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Improve mj_fullM documentation, add clarifying test.

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PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
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Yuval Tassa
2025-08-17 11:01:18 -07:00
committed by Copybara-Service
parent 6b41fbe72a
commit 972ffd7b90
3 changed files with 69 additions and 2 deletions
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doc/APIreference/functions.rst
+7 -1
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@@ -459,7 +459,13 @@ Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`
.. mujoco-include:: mj_fullM
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same structure as ``mjData.qM``.
The ``mjData`` members ``qM`` and ``M`` represent the same matrix in different formats; the former is unique to
MuJoCo, the latter is standard Compressed Sparse Row (lower triangle only). The :math:`L^T D L` factor of the inertia
matrix ``mjData.qLD`` uses the same CSR format as ``mjData.M``. See
`engine_support_test <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_support_test.cc>`__ for
pedagogical examples.
.. _mj_mulM:
doc/APIreference/functions_override.rst
+7 -1
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@@ -266,7 +266,13 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
.. _mj_fullM:
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same structure as ``mjData.qM``.
The ``mjData`` members ``qM`` and ``M`` represent the same matrix in different formats; the former is unique to
MuJoCo, the latter is standard Compressed Sparse Row (lower triangle only). The :math:`L^T D L` factor of the inertia
matrix ``mjData.qLD`` uses the same CSR format as ``mjData.M``. See
`engine_support_test <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_support_test.cc>`__ for
pedagogical examples.
.. _mj_mulM: