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Expose mju_sparse2dense to public API.

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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
This commit is contained in:
Yuval Tassa
2024-10-23 09:00:33 -07:00
committed by Copybara-Service
parent b598d79b3f
commit e14aebfd16
9 changed files with 103 additions and 2 deletions
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doc/includes/references.h
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@@ -3467,6 +3467,8 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
const mjtNum newpos[3], const mjtNum oldpos[3],
const mjtNum rotnew2old[9]);
void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);