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Add utility functions for banded-then-dense symmetric matrices.

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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
This commit is contained in:
Yuval Tassa
2023-05-02 05:57:22 -07:00
committed by Copybara-Service
parent 2ad82d5998
commit b0bc330b54
13 changed files with 1147 additions and 10 deletions
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unity/Runtime/Bindings/MjBindings.cs
+18
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@@ -3733,6 +3733,24 @@ public static unsafe extern void mju_cholSolve(double* res, double* mat, double*
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mju_cholUpdate(double* mat, double* x, int n, int flg_plus);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_cholFactorBand(double* mat, int ntotal, int nband, int ndense, double diagadd, double diagmul);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_cholSolveBand(double* res, double* mat, double* vec, int ntotal, int nband, int ndense);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_band2Dense(double* res, double* mat, int ntotal, int nband, int ndense, byte flg_sym);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_dense2Band(double* res, double* mat, int ntotal, int nband, int ndense);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_bandMulMatVec(double* res, double* mat, double* vec, int ntotal, int nband, int ndense, int nvec, byte flg_sym);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mju_bandDiag(int i, int ntotal, int nband, int ndense);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mju_eig3(double* eigval, double* eigvec, double* quat, double* mat);