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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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src/user/user_model.h
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@@ -118,6 +118,7 @@ class mjCModel_ : public mjsElement {
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in reduced sparse 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
// statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst