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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_support.h
+7 -5
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@@ -104,12 +104,14 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
// construct sparse matrix representations matching qM
MJAPI void mj_makeMSparse(const mjModel* m, mjData* d, int *rownnz, int *rowadr, int *colind);
// set dst = qM, handle different sparsity representations
MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
const int *rownnz, const int *rowadr, const int *colind);
//-------------------------- sparse system matrix conversion ---------------------------------------
// dst[D] = src[M], handle different sparsity representations
MJAPI void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
// dst[M] = src[D lower], handle different sparsity representations
MJAPI void mj_copyD2MSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
//-------------------------- perturbations ---------------------------------------------------------