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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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test/engine/engine_util_sparse_test.cc
+2 -3
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@@ -1075,7 +1075,7 @@ TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
constexpr int nnz = 9;
mjtNum mat[n*n] = {1, 0, 0, 0,
-1, 2, 0, 0, // spurious (ignored) -1 at (1, 0)
0, 2, 0, 0,
3, 0, 4, 0,
5, 6, 7, 8};
@@ -1090,12 +1090,11 @@ TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
int rowadr[n];
int colind[nnz];
mju_dense2sparse(mat_sparse, mat, n, n, rownnz, rowadr, colind, nnz);
int diagnum[n] = {0, 1, 0, 0};
// multiply: res = (mat + strict_upper(mat')) * vec
mjtNum vec[n] = {4, 3, 2, 1};
mjtNum res[n];
mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, diagnum, colind);
mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, colind);
// dense multiply
mjtNum res2[n];