Add CSR implementation of mj_factorI

PiperOrigin-RevId: 712498431 Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
2025-01-06 05:47:13 -08:00
parent 7eb8231fda
commit ac11e5faa6
9 changed files with 514 additions and 14 deletions
@@ -64,8 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
      } else {
        mju_copy(res, vec, m->nv);
        mj_solveLDs(res, LDs, d->qLDiagInv, m->nv,
-                    d->C_rownnz, d->C_rowadr, d->C_diag, m->dof_simplenum,
-                    d->C_colind);
+                    d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
      }
    }
  }