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Rename C sparse structure to M in mjdata, improve docstrings.

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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
This commit is contained in:
Yuval Tassa
2025-05-14 05:25:11 -07:00
committed by Copybara-Service
parent 4ba04586ae
commit dd28b887d4
21 changed files with 128 additions and 128 deletions
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include/mujoco/mjdata.h
+12 -12
View File
@@ -297,8 +297,8 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_crb
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* qM; // total inertia (sparse) (nM x 1)
mjtNum* M; // total inertia (compressed sparse row) (nC x 1)
mjtNum* qM; // inertia (sparse) (nM x 1)
mjtNum* M; // reduced inertia (compressed sparse row) (nC x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
@@ -341,16 +341,16 @@ struct mjData_ {
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: address of each row in B_colind (nbody x 1)
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
int* mapM2C; // index mapping from M to C (nC x 1)
int* D_rownnz; // dof-dof: non-zeros in each row (nv x 1)
int* D_rowadr; // dof-dof: address of each row in D_colind (nv x 1)
int* D_diag; // dof-dof: index of diagonal element (nv x 1)
int* D_colind; // dof-dof: column indices of non-zeros (nD x 1)
int* mapM2D; // index mapping from M to D (nD x 1)
int* mapD2M; // index mapping from D to M (nM x 1)
int* M_rownnz; // reduced inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // reduced inertia: address of each row in M_colind (nv x 1)
int* M_colind; // reduced inertia: column indices of non-zeros (nC x 1)
int* mapM2M; // index mapping from qM to M (nC x 1)
int* D_rownnz; // full inertia: non-zeros in each row (nv x 1)
int* D_rowadr; // full inertia: address of each row in D_colind (nv x 1)
int* D_diag; // full inertia: index of diagonal element (nv x 1)
int* D_colind; // full inertia: column indices of non-zeros (nD x 1)
int* mapM2D; // index mapping from qM to D (nD x 1)
int* mapD2M; // index mapping from D to qM (nM x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
include/mujoco/mjxmacro.h
+4 -4
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@@ -679,10 +679,10 @@
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( int, C_rownnz, nv, 1 ) \
X ( int, C_rowadr, nv, 1 ) \
X ( int, C_colind, nC, 1 ) \
X ( int, mapM2C, nC, 1 ) \
X ( int, M_rownnz, nv, 1 ) \
X ( int, M_rowadr, nv, 1 ) \
X ( int, M_colind, nC, 1 ) \
X ( int, mapM2M, nC, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
X ( int, D_rowadr, nv, 1 ) \
X ( int, D_diag, nv, 1 ) \