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Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.

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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
This commit is contained in:
Taylor Howell
2024-11-20 04:29:55 -08:00
committed by Copybara-Service
parent cd84011d7b
commit aae5fd6906
13 changed files with 78 additions and 33 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -291,8 +291,8 @@ struct mjData_ {
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
int* moment_colind; // column indices in sparse Jacobian (nu x nv)
mjtNum* actuator_moment; // actuator moments (nu x nv)
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
// computed by mj_fwdPosition/mj_crb
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)