New implicitfast integrator and sparse RNE derivatives for implicit.

PiperOrigin-RevId: 516910733 Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:16:45 -07:00
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
@@ -77,6 +77,8 @@ TEST_F(EngineIoTest, MakeDataFromPartialModel) {
  {
    MJDATA_POINTERS_PREAMBLE((&partial_model))
    #define X(type, name, nr, nc)                                              \
+      if (strcmp(#name, "D_rownnz") && strcmp(#name, "D_rowadr")  &&           \
+          strcmp(#name, "B_rownnz") && strcmp(#name, "B_rowadr"))              \
        EXPECT_EQ(std::memcmp(data_from_partial->name, data_from_model->name,  \
                              sizeof(type)*(partial_model.nr)*(nc)),           \
                  0) << "mjData::" #name " differs";