Delete derivative code sample.

PiperOrigin-RevId: 573477509 Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
2023-10-14 08:37:46 -07:00
parent c0357ef3d0
commit a1b6026b8c
12 changed files with 20 additions and 537 deletions
@@ -309,10 +309,8 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
  int ndx = 2*nv+na;  // row length of Dy Jacobians
  mj_markStack(d);

-  // states
  // state to restore after finite differencing
  unsigned int restore_spec = mjSTATE_FULLPHYSICS | mjSTATE_CTRL;
-
  restore_spec |= mjDISABLED(mjDSBL_WARMSTART) ? 0 : mjSTATE_WARMSTART;

  mjtNum *fullstate  = mj_stackAllocNum(d, mj_stateSize(m, restore_spec));