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Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c)

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PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
This commit is contained in:
Yuval Tassa
2023-03-16 10:44:21 -07:00
committed by Copybara-Service
parent 1731baa925
commit 9a97674e1e
6 changed files with 648 additions and 587 deletions
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test/engine/engine_derivative_test.cc
+2 -2
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@@ -14,7 +14,6 @@
// Tests for engine/engine_derivative.c.
#include <cmath>
#include <vector>
#include <gmock/gmock.h>
@@ -23,6 +22,7 @@
#include <mujoco/mujoco.h>
#include "src/engine/engine_core_smooth.h"
#include "src/engine/engine_derivative.h"
#include "src/engine/engine_derivative_fd.h"
#include "src/engine/engine_io.h"
#include "src/engine/engine_util_blas.h"
#include "src/engine/engine_util_errmem.h"
@@ -78,7 +78,7 @@ static void PrintMatrix(mjtNum* mat, int nrow, int ncol) {
}
std::cerr << "\n";
}
}
} // NOLINT(clang-diagnostic-unused-function)
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {