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Remove mjData.C_diag, no longer required as C is now lower triangular.

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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
This commit is contained in:
Yuval Tassa
2025-01-06 06:57:19 -08:00
committed by Copybara-Service
parent ac11e5faa6
commit b5df2c10bf
9 changed files with 13 additions and 26 deletions
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include/mujoco/mjdata.h
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@@ -341,7 +341,6 @@ struct mjData_ {
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_diag; // reduced dof-dof: index of diagonal element (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
int* mapM2C; // index mapping from M to C (nC x 1)
int* D_rownnz; // dof-dof: non-zeros in each row (nv x 1)