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Delete sparsity structures from mjData, use the ones in mjModel

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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
This commit is contained in:
Yuval Tassa
2025-08-14 09:11:47 -07:00
committed by Copybara-Service
parent 7eb13777f8
commit 977f94e9df
25 changed files with 120 additions and 349 deletions
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test/engine/engine_derivative_test.cc
+2 -2
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@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->M_rownnz, d->M_rowadr, d->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);