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Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island.

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PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
This commit is contained in:
Yuval Tassa
2023-08-31 09:11:47 -07:00
committed by Copybara-Service
parent 85fd922b37
commit eaa2572a8b
3 changed files with 109 additions and 0 deletions
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src/engine/engine_core_constraint.h
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@@ -42,6 +42,10 @@ MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum*
MJAPI void mj_mulJacVec_island(const mjModel* m, mjData* d,
mjtNum* res, const mjtNum* vec, int island);
// multiply Jacobian transposed by vector, for one island
MJAPI void mj_mulJacTVec_island(const mjModel* m, mjData* d,
mjtNum* res, const mjtNum* vec, int island);
// multiply JacobianT by vector
MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);