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Remove unnecessary argument in mju_mulSymVecSparse

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PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
This commit is contained in:
Yuval Tassa
2025-05-14 08:11:10 -07:00
committed by Copybara-Service
parent 71bdd915f7
commit e1baa15776
4 changed files with 6 additions and 15 deletions
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src/engine/engine_solver.c
+2 -2
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@@ -1357,7 +1357,7 @@ static mjtNum CGsearch(mjCGContext* ctx, mjtNum tolerance, mjtNum ls_iterations)
// compute Mv = M * v
mju_mulSymVecSparse(ctx->Mv, ctx->M, ctx->search, nv,
ctx->M_rownnz, ctx->M_rowadr, ctx->M_diagnum, ctx->M_colind);
ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
// compute Jv = J * search (dense or sparse)
if (!ctx->is_sparse) {
@@ -1887,7 +1887,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int island, int maxiter,
// compute Ma = M * qacc
mju_mulSymVecSparse(ctx.Ma, ctx.M, ctx.qacc, nv,
ctx.M_rownnz, ctx.M_rowadr, ctx.M_diagnum, ctx.M_colind);
ctx.M_rownnz, ctx.M_rowadr, ctx.M_colind);
// compute Jaref = J * qacc - aref (dense or sparse)