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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_print.c
+17 -17
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@@ -1124,14 +1124,14 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
d->moment_rowadr, d->moment_colind, fp, float_format);
printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
printInertia("QM", d->qM, m, fp, float_format);
printSparse("M", d->M, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printSparse("M", d->M, m->nv, d->M_rownnz,
d->M_rowadr, d->M_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
d->M_rowadr, d->M_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
if (!mju_isZero(d->qHDiagInv, m->nv)) {
printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format);
printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
}
@@ -1160,34 +1160,34 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
}
fprintf(fp, "\n\n");
// C sparse structure
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
NULL, d->C_colind, fp);
// M sparse structure
mj_printSparsity("M: reduced inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
NULL, d->M_colind, fp);
fprintf(fp, NAME_FORMAT, "C_rownnz");
fprintf(fp, NAME_FORMAT, "M_rownnz");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->C_rownnz[i]);
fprintf(fp, " %d", d->M_rownnz[i]);
}
fprintf(fp, "\n\n");
// C_rowadr
fprintf(fp, NAME_FORMAT, "C_rowadr");
fprintf(fp, NAME_FORMAT, "M_rowadr");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->C_rowadr[i]);
fprintf(fp, " %d", d->M_rowadr[i]);
}
fprintf(fp, "\n\n");
// C_colind
fprintf(fp, NAME_FORMAT, "C_colind");
fprintf(fp, NAME_FORMAT, "M_colind");
for (int i = 0; i < m->nC; i++) {
fprintf(fp, " %d", d->C_colind[i]);
fprintf(fp, " %d", d->M_colind[i]);
}
fprintf(fp, "\n\n");
// mapM2C
fprintf(fp, NAME_FORMAT, "mapM2C");
// mapM2M
fprintf(fp, NAME_FORMAT, "mapM2M");
for (int i = 0; i < m->nC; i++) {
fprintf(fp, " %d", d->mapM2C[i]);
fprintf(fp, " %d", d->mapM2M[i]);
}
fprintf(fp, "\n\n");