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
@@ -61,7 +61,8 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
    std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);

    // expect accelerations to be insignificantly different
-    EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
+    EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse))
+        << "failed equivalence for solver=" << solver;
  }

  mj_deleteData(data);