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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/engine/engine_derivative_test.cc
+5 -5
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@@ -339,7 +339,7 @@ TEST_F(DerivativeTest, StepSkip) {
int nq = model->nq;
int nv = model->nv;
// disable warmstarts so we don't need to save qacc_warmstart
// disable warm-starts so we don't need to save qacc_warmstart
model->opt.disableflags |= mjDSBL_WARMSTART;
for (const mjtIntegrator integrator : {mjINT_EULER,
@@ -436,8 +436,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[i*nv + i] = -m->jnt_stiffness[i];
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLDs(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -464,8 +464,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mjtNum *BcT = mj_stackAllocNum(d, nv*nu);
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLDs(Bc, d->qH, d->qHDiagInv, nv, nu,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);