From d61d0349b8193276f459d98ff96201115c3f4151 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 6 Oct 2023 04:09:55 -0700 Subject: [PATCH] Fix mju_eig3 declarations. PiperOrigin-RevId: 571296456 Change-Id: Ic05f44c8c0883fe96e5671d71fe9b447c2e91162 --- src/engine/engine_util_solve.c | 2 +- src/engine/engine_util_solve.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c index f82055a1..b93022b6 100644 --- a/src/engine/engine_util_solve.c +++ b/src/engine/engine_util_solve.c @@ -708,7 +708,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n, // eigenvalue decomposition of symmetric 3x3 matrix static const mjtNum eigEPS = 1E-12; -int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum quat[4], const mjtNum mat[9]) { +int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]) { mjtNum D[9], tmp[9]; mjtNum tau, t, c; int iter, rk, ck, rotk; diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h index 910e5743..a5cf8697 100644 --- a/src/engine/engine_util_solve.h +++ b/src/engine/engine_util_solve.h @@ -84,7 +84,7 @@ void mju_solveLUSparse(mjtNum *res, const mjtNum *LU, const mjtNum* vec, int n, const int *rownnz, const int *rowadr, const int *colind); // eigenvalue decomposition of symmetric 3x3 matrix -MJAPI int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum quat[4], const mjtNum mat[9]); +MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]); // solve QCQP in 2 dimensions: // min 0.5*x'*A*x + x'*b s.t. sum (xi/di)^2 <= r^2