chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Print sparsity structure of mjData.efc_AR

Browse Source 
PiperOrigin-RevId: 713296073
Change-Id: Ifede6ea66dd1177f5e85c8498860decebaa65f06
This commit is contained in:
Yuval Tassa
2025-01-08 08:11:54 -08:00
committed by Copybara-Service
parent 6654d63438
commit f912e8df16
1 changed files with 8 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_print.c
+8 -4
View File
@@ -1272,10 +1272,14 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
mj_printSparsity("JT: constraint Jacobian transposed", m->nv, d->nefc, d->efc_JT_rowadr, NULL,
d->efc_JT_rownnz, d->efc_JT_rowsuper, d->efc_JT_colind, fp);
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
d->efc_AR_rowadr, d->efc_AR_colind, fp, float_format);
if (mj_isDual(m)) {
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
d->efc_AR_rowadr, d->efc_AR_colind, fp, float_format);
mj_printSparsity("efc_AR: inverse constraint inertia", d->nefc, d->nefc, d->efc_AR_rowadr,
NULL, d->efc_AR_rownnz, NULL, d->efc_AR_colind, fp);
}
}
printArray("EFC_POS", d->nefc, 1, d->efc_pos, fp, float_format);