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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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test/benchmark/factorI_benchmark_test.cc
+1 -1
View File
@@ -59,7 +59,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
} else {
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
}
}
}
test/benchmark/inertia_benchmark_test.cc
+2 -2
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@@ -73,9 +73,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
case SolveType::kCsr:
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
}
}
}
test/benchmark/solveLD_benchmark_test.cc
+1 -1
View File
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
} else {
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
}
}
}