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

PiperOrigin-RevId: 698343986 Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:29:55 -08:00
parent cd84011d7b
commit aae5fd6906
13 changed files with 78 additions and 33 deletions
@@ -663,6 +663,7 @@ struct mjModel_ {
  int nB;                         // number of non-zeros in sparse body-dof matrix
  int nC;                         // number of non-zeros in sparse reduced dof-dof matrix
  int nD;                         // number of non-zeros in sparse dof-dof matrix
+  int nJmom;                      // number of non-zeros in sparse actuator_moment matrix
  int ntree;                      // number of kinematic trees under world body
  int ngravcomp;                  // number of bodies with nonzero gravcomp
  int nemax;                      // number of potential equality-constraint rows