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Add private functions and associated tests related to constraint island discovery.

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PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
This commit is contained in:
Yuval Tassa
2023-08-02 08:42:25 -07:00
committed by Copybara-Service
parent efca1a76aa
commit a063e2f0ef
4 changed files with 369 additions and 4 deletions
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src/engine/engine_util_sparse.h
+2 -2
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@@ -35,8 +35,8 @@ mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2,
const int nnz2, const int* ind2);
// convert matrix from dense to sparse
void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);
MJAPI void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);
// convert matrix from sparse to dense
void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,