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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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src/engine/engine_io.c
+6 -6
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@@ -1139,8 +1139,8 @@ static void copyM2Sparse(const mjModel* m, mjData* d, int* dst, const int* src,
const int* rownnz;
const int* rowadr;
if (reduced && !upper) {
rownnz = d->C_rownnz;
rowadr = d->C_rowadr;
rownnz = d->M_rownnz;
rowadr = d->M_rowadr;
} else if (!reduced && upper) {
rownnz = d->D_rownnz;
rowadr = d->D_rowadr;
@@ -1248,12 +1248,12 @@ static void makeDofDofmaps(const mjModel* m, mjData* d) {
}
// make mapM2C
for (int i=0; i < nC; i++) d->mapM2C[i] = -1;
copyM2Sparse(m, d, d->mapM2C, M, /*reduced=*/1, /*upper=*/0);
for (int i=0; i < nC; i++) d->mapM2M[i] = -1;
copyM2Sparse(m, d, d->mapM2M, M, /*reduced=*/1, /*upper=*/0);
// check that all indices are filled in
for (int i=0; i < nC; i++) {
if (d->mapM2C[i] < 0) {
if (d->mapM2M[i] < 0) {
mjERROR("unassigned index in mapM2C");
}
}
@@ -1976,7 +1976,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
checkDBSparse(m, d);
// make C
makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, NULL, d->C_colind, /*reduced=*/1, /*upper=*/0);
makeDofDofSparse(m, d, d->M_rownnz, d->M_rowadr, NULL, d->M_colind, /*reduced=*/1, /*upper=*/0);
// make index mappings: mapM2D, mapD2M, mapM2C, mapM2M
makeDofDofmaps(m, d);