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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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src/engine/engine_util_blas.h
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@@ -180,6 +180,9 @@ MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* 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: return vec1'*mat*vec2
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
//------------------------------ matrix-matrix operations ------------------------------------------