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Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.

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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
This commit is contained in:
Yuval Tassa
2024-10-14 09:06:14 -07:00
committed by Copybara-Service
parent 7ec94f46d4
commit ee7b994021
10 changed files with 4 additions and 98 deletions
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introspect/structs.py
-40
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@@ -4326,11 +4326,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of non-zeros in constraint Jacobian',
),
StructFieldDecl(
name='nnzL',
type=ValueType(name='int'),
doc='number of non-zeros in Newton Cholesky factor',
),
StructFieldDecl(
name='nisland',
type=ValueType(name='int'),
@@ -5287,41 +5282,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='L_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Hessian factor L rows (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR (nnzL x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='L',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="chol(M + J'*diag(efc_D)*J) (nnzL x 1)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='Lcone',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='L with cone contributions (nnzL x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_vel',
type=PointerType(