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Rename inertia factorization routines:

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```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
This commit is contained in:
Yuval Tassa
2025-02-18 09:40:43 -08:00
committed by Copybara-Service
parent 982330d15a
commit b516edae1b
8 changed files with 59 additions and 60 deletions
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test/benchmark/factorI_benchmark_test.cc
+3 -3
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@@ -56,11 +56,11 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
if (legacy) {
mj_factorI(m, d, d->qM, LDlegacy, d->qLDiagInv);
mj_factorI_legacy(m, d, d->qM, LDlegacy, d->qLDiagInv);
} else {
mju_copy(d->qLD, M, m->nC);
mj_factorIs(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
}