Convert qLD to CSR format.

PiperOrigin-RevId: 723955038 Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:58:45 -08:00
parent cb1696eb34
commit c27d3758c2
22 changed files with 151 additions and 153 deletions
@@ -1127,7 +1127,8 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena

  printInertia("QM", d->qM, m, fp, float_format);

-  printInertia("QLD", d->qLD, m, fp, float_format);
+  printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
+              d->C_rowadr, d->C_colind, fp, float_format);
  printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);

  // B sparse structure