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Fix mju_eig3 declarations.

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PiperOrigin-RevId: 571296456
Change-Id: Ic05f44c8c0883fe96e5671d71fe9b447c2e91162
This commit is contained in:
Yuval Tassa
2023-10-06 04:09:55 -07:00
committed by Copybara-Service
parent 071af3b015
commit d61d0349b8
2 changed files with 2 additions and 2 deletions
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src/engine/engine_util_solve.c
+1 -1
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@@ -708,7 +708,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
// eigenvalue decomposition of symmetric 3x3 matrix // eigenvalue decomposition of symmetric 3x3 matrix
static const mjtNum eigEPS = 1E-12; 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 D[9], tmp[9];
mjtNum tau, t, c; mjtNum tau, t, c;
int iter, rk, ck, rotk; int iter, rk, ck, rotk;
src/engine/engine_util_solve.h
+1 -1
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@@ -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); const int *rownnz, const int *rowadr, const int *colind);
// eigenvalue decomposition of symmetric 3x3 matrix // 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: // solve QCQP in 2 dimensions:
// min 0.5*x'*A*x + x'*b s.t. sum (xi/di)^2 <= r^2 // min 0.5*x'*A*x + x'*b s.t. sum (xi/di)^2 <= r^2