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

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PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
This commit is contained in:
Yuval Tassa
2022-09-14 08:04:40 -07:00
committed by Copybara-Service
parent ee9eccc992
commit f4e7fa97af
12 changed files with 109 additions and 20 deletions
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include/mujoco/mujoco.h
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@@ -911,6 +911,9 @@ MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
// Multiply transposed matrix and vector: res = mat' * vec.
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
// Multiply square matrix with vectors on both sides: returns vec1'*mat*vec2.
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
// Transpose matrix: res = mat'.
MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);