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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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src/engine/engine_print.c
-7
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@@ -1180,13 +1180,6 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
if (d->nnzL) {
// L sparse structure
printSparsity("L: Newton reverse Cholesky factor", m->nv, m->nv,
d->L_rowadr, d->L_rownnz, d->L_colind, fp);
printSparse("L", d->L, m->nv, d->L_rownnz, d->L_rowadr, d->L_colind, fp, float_format);
}
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,