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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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src/engine/engine_io.c
+12 -10
View File
@@ -994,16 +994,18 @@ static void makeDofDofSparse(const mjModel* m, mjData* d,
}
// find diagonal indices
for (int i = 0; i < nv; i++) {
int adr = rowadr[i];
int j = 0;
while (colind[adr + j] < i && j < rownnz[i]) {
j++;
if (diag) {
for (int i = 0; i < nv; i++) {
int adr = rowadr[i];
int j = 0;
while (colind[adr + j] < i && j < rownnz[i]) {
j++;
}
if (colind[adr + j] != i) {
mjERROR("diagonal index not found");
}
diag[i] = j;
}
if (colind[adr + j] != i) {
mjERROR("diagonal index not found");
}
diag[i] = j;
}
mj_freeStack(d);
@@ -1963,7 +1965,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
checkDBSparse(m, d);
// make C
makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, d->C_diag, d->C_colind, /*reduced=*/1);
makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, NULL, d->C_colind, /*reduced=*/1);
makeDofDofmap(m, d);
}
src/engine/engine_print.c
+1 -1
View File
@@ -1135,7 +1135,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "\n\n");
// C sparse structure
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, d->C_diag, d->C_rownnz,
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
NULL, d->C_colind, fp);
fprintf(fp, NAME_FORMAT, "C_rownnz");