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New implicitfast integrator and sparse RNE derivatives for implicit.

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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
This commit is contained in:
Yuval Tassa
2023-03-15 13:16:45 -07:00
committed by Copybara-Service
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
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src/engine/engine_print.c
+21
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@@ -933,6 +933,27 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
fprintf(fp, "\n\n");
// B_rownnz
fprintf(fp, NAME_FORMAT, "B_rownnz");
for (int i = 0; i < m->nbody; i++) {
fprintf(fp, " %d", d->B_rownnz[i]);
}
fprintf(fp, "\n\n");
// B_rowadr
fprintf(fp, NAME_FORMAT, "B_rowadr");
for (int i = 0; i < m->nbody; i++) {
fprintf(fp, " %d", d->B_rowadr[i]);
}
fprintf(fp, "\n\n");
// B_colind
fprintf(fp, NAME_FORMAT, "B_colind");
for (int i = 0; i < m->nB; i++) {
fprintf(fp, " %d", d->B_colind[i]);
}
fprintf(fp, "\n\n");
// print qDeriv
mju_sparse2dense(M, d->qDeriv, m->nv, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind);
printArray("QDERIV", m->nv, m->nv, M, fp, float_format);