Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.

PiperOrigin-RevId: 474292806 Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:04:40 -07:00
parent ee9eccc992
commit f4e7fa97af
12 changed files with 109 additions and 20 deletions
@@ -6040,6 +6040,17 @@ mju_mulMatTVec

 Multiply transposed matrix and vector: res = mat' \* vec.

+.. _mju_mulVecMatVec:
+
+mju_mulVecMatVec
+~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
+
+Multiply square matrix with vectors on both sides: return vec1' \* mat \* vec2.
+
 mju_transpose
 ~~~~~~~~~~~~~