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Expose mj_makeM as a sub-component.

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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
This commit is contained in:
Yuval Tassa
2025-05-27 00:33:27 -07:00
committed by Copybara-Service
parent 4a102c37bc
commit 89e39dc0a7
12 changed files with 58 additions and 10 deletions
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include/mujoco/mjdata.h
+1 -1
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@@ -295,7 +295,7 @@ struct mjData_ {
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
// computed by mj_fwdPosition/mj_crb
// computed by mj_fwdPosition/mj_makeM
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* qM; // inertia (sparse) (nM x 1)
mjtNum* M; // reduced inertia (compressed sparse row) (nC x 1)