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Add mju_dense2sparse to public API.

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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
This commit is contained in:
Taylor Howell
2024-10-29 12:47:03 -07:00
committed by Copybara-Service
parent e835f139c8
commit f47840e57c
7 changed files with 109 additions and 3 deletions
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doc/APIreference/functions.rst
+11 -1
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@@ -3414,6 +3414,16 @@ rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motio
Sparse math
^^^^^^^^^^^
.. _mju_dense2sparse:
mju_dense2sparse
~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_dense2sparse
Convert matrix from dense to sparse.
nnz is size of res and colind, return 1 if too small, 0 otherwise.
.. _mju_sparse2dense:
mju_sparse2dense
@@ -4372,7 +4382,7 @@ mjs_setFrame
.. mujoco-include:: mjs_setFrame
Set element's enlcosing frame.
Set element's enclosing frame.
.. _mjs_resolveOrientation:
doc/includes/references.h
+2
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@@ -3464,6 +3464,8 @@ void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, in
void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
const mjtNum newpos[3], const mjtNum oldpos[3],
const mjtNum rotnew2old[9]);
int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz);
void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);