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fix mjd_transitionFD comment

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taylor howell
2023-07-14 13:50:57 -07:00
parent 0ccfef7314
commit e695a95efb
1 changed files with 2 additions and 2 deletions
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src/engine/engine_derivative_fd.c
+2 -2
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@@ -568,8 +568,8 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
// required output matrix dimensions:
// A: (2*nv+na x 2*nv+na)
// B: (2*nv+na x nu)
// D: (nsensordata x 2*nv+na)
// C: (nsensordata x nu)
// C: (nsensordata x 2*nv+na)
// D: (nsensordata x nu)
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D) {
int nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;