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Compress actuator_moment memory using nJmom <= nu x nv.

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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
This commit is contained in:
Taylor Howell
2024-11-20 10:52:20 -08:00
committed by Copybara-Service
parent aae5fd6906
commit a1b18e707a
4 changed files with 64 additions and 8 deletions
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src/user/user_model.h
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@@ -324,6 +324,7 @@ class mjCModel : public mjCModel_, private mjSpec {
void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree
void CopyPlugins(mjModel*); // copy plugin data
int CountNJmom(const mjModel* m); // compute number of non-zeros in actuator_moment matrix
// objects created here
std::vector<mjCFlex*> flexes_; // list of flexes