Expose mju_sparse2dense to public API.

PiperOrigin-RevId: 688985153 Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:00:33 -07:00
parent b598d79b3f
commit e14aebfd16
9 changed files with 103 additions and 2 deletions
@@ -1081,6 +1081,13 @@ MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_forc
                                const mjtNum rotnew2old[9]);


+//---------------------------------- Sparse math ---------------------------------------------------
+
+// Convert matrix from sparse to dense.
+MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                            const int* rownnz, const int* rowadr, const int* colind);
+
+
 //---------------------------------- Quaternions ---------------------------------------------------

 // Rotate vector by quaternion.