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Remove use of diagnum in solver

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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
This commit is contained in:
Yuval Tassa
2025-05-15 00:38:33 -07:00
committed by Copybara-Service
parent dc4968506b
commit e8c566bee1
7 changed files with 0 additions and 34 deletions
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include/mujoco/mjdata.h
-1
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@@ -420,7 +420,6 @@ struct mjData_ {
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_diagnum; // inertia: num of consecutive diagonal elements (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
include/mujoco/mjxmacro.h
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@@ -758,7 +758,6 @@
X( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
X( int, iM_rownnz, MJ_D(nidof), 1 ) \
X( int, iM_rowadr, MJ_D(nidof), 1 ) \
X( int, iM_diagnum, MJ_D(nidof), 1 ) \
X( int, iM_colind, MJ_M(nC), 1 ) \
X( mjtNum, iM, MJ_M(nC), 1 ) \
X( mjtNum, iLD, MJ_M(nC), 1 ) \