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Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
This commit is contained in:
Yuval Tassa
2025-05-14 07:12:19 -07:00
committed by Copybara-Service
parent b0c36c6b33
commit d8bebdc675
9 changed files with 33 additions and 38 deletions
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src/engine/engine_core_smooth.h
+2 -2
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@@ -63,7 +63,7 @@ MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
// sparse L'*D*L factorizaton of inertia-like matrix
MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
const int* rownnz, const int* rowadr, const int* colind);
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
MJAPI void mj_factorM(const mjModel* m, mjData* d);
@@ -75,7 +75,7 @@ MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// handle n vectors at once
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
const int* rownnz, const int* rowadr, const int* colind);
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);