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mju_boxQP only reads from the lower triangle of the input Hessian.

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- Before this change, an asymmetric Hessian would lead to solver failure. After this change the Hessian is symmetric by definition (upper triangle is ignored).
- API documentation was updated to reflect this contract.

PiperOrigin-RevId: 477135411
Change-Id: I60d011d36853afebac26c359771c217baf101360
This commit is contained in:
Yuval Tassa
2022-09-27 04:32:00 -07:00
committed by Copybara-Service
parent f433776c9b
commit a6b338db64
5 changed files with 42 additions and 4 deletions
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doc/APIreference.rst
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@@ -6388,6 +6388,7 @@ notes:
``R`` must have allocatd size ``n*(n+7)``, but only ``nfree*nfree`` values are used in output.
``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used in output.
The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
Only the lower triangles of H and R and are read from and written to, respectively.
.. _mju_boxQPmalloc: