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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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include/mujoco/mujoco.h
+6 -1
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@@ -1069,6 +1069,11 @@ MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_forc
//---------------------------------- Sparse math ---------------------------------------------------
// Convert matrix from dense to sparse.
// nnz is size of res and colind, return 1 if too small, 0 otherwise.
MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz);
// Convert matrix from sparse to dense.
MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
@@ -1611,7 +1616,7 @@ MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
// Set element's default.
MJAPI void mjs_setDefault(mjsElement* element, mjsDefault* def);
// Set element's enlcosing frame.
// Set element's enclosing frame.
MJAPI void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
// Resolve alternative orientations to quat, return error if any.