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Rename nnzJ to nJ in mjData.

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This naming is more consistent.

PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
This commit is contained in:
Yuval Tassa
2024-10-31 10:42:29 -07:00
committed by Copybara-Service
parent 554641060b
commit c9f78ad8a8
10 changed files with 33 additions and 34 deletions
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include/mujoco/mjdata.h
+5 -5
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@@ -197,7 +197,7 @@ struct mjData_ {
int nf; // number of friction constraints
int nl; // number of limit constraints
int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian
int nJ; // number of non-zeros in constraint Jacobian
int nisland; // number of detected constraint islands
// global properties
@@ -389,13 +389,13 @@ struct mjData_ {
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nnzJ x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nJ x 1)
int* efc_JT_rownnz; // number of non-zeros in constraint Jacobian row T (nv x 1)
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
int* efc_JT_colind; // column indices in constraint Jacobian T (nnzJ x 1)
mjtNum* efc_J; // constraint Jacobian (nnzJ x 1)
mjtNum* efc_JT; // constraint Jacobian transposed (nnzJ x 1)
int* efc_JT_colind; // column indices in constraint Jacobian T (nJ x 1)
mjtNum* efc_J; // constraint Jacobian (nJ x 1)
mjtNum* efc_JT; // constraint Jacobian transposed (nJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
include/mujoco/mjxmacro.h
+5 -5
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@@ -689,13 +689,13 @@
X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
X( int, efc_J_colind, MJ_D(nnzJ), 1 ) \
X( int, efc_J_colind, MJ_D(nJ), 1 ) \
X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
X( int, efc_JT_colind, MJ_D(nnzJ), 1 ) \
X( mjtNum, efc_J, MJ_D(nnzJ), 1 ) \
X( mjtNum, efc_JT, MJ_D(nnzJ), 1 ) \
X( int, efc_JT_colind, MJ_D(nJ), 1 ) \
X( mjtNum, efc_J, MJ_D(nJ), 1 ) \
X( mjtNum, efc_JT, MJ_D(nJ), 1 ) \
X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
@@ -755,7 +755,7 @@
X( int, nf ) \
X( int, nl ) \
X( int, nefc ) \
X( int, nnzJ ) \
X( int, nJ ) \
X( int, nisland ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )