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Remove unused parameters from mju_sqrMatTDSparseInit.

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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
This commit is contained in:
Kyle Bayes
2023-08-15 06:29:36 -07:00
committed by Copybara-Service
parent 3f6c694e75
commit 8ea690ed70
4 changed files with 30 additions and 33 deletions
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src/engine/engine_core_constraint.c
+2 -3
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@@ -1845,9 +1845,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind);
// AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, JM2T, JM2,
nv, nefc, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind, rowsuper, d);
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nv, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,
src/engine/engine_util_sparse.c
-1
View File
@@ -413,7 +413,6 @@ void mju_superSparse(int nr, int* rowsuper,
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT,
src/engine/engine_util_sparse.h
-1
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@@ -82,7 +82,6 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT,