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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/mjxmacro.h
+3 -2
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@@ -137,6 +137,7 @@
X ( nB ) \
X ( nC ) \
X ( nD ) \
X ( nJmom ) \
XMJV( ntree ) \
X ( ngravcomp ) \
X ( nemax ) \
@@ -625,8 +626,8 @@
X ( mjtNum, actuator_length, nu, 1 ) \
X ( int, moment_rownnz, nu, 1 ) \
X ( int, moment_rowadr, nu, 1 ) \
X ( int, moment_colind, nu, MJ_M(nv) ) \
X ( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
X ( int, moment_colind, nJmom, 1 ) \
X ( mjtNum, actuator_moment, nJmom, 1 ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \