chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Use sparse (uncompressed) actuator_moment in mj_transmission.

Browse Source 
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
This commit is contained in:
Taylor Howell
2024-11-01 08:05:14 -07:00
committed by Copybara-Service
parent 1d58576d28
commit a51f346059
13 changed files with 230 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.h
+2 -2
View File
@@ -39,8 +39,8 @@ MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz);
// convert matrix from sparse to dense
MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind);
// multiply sparse matrix and dense vector: res = mat * vec
MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,