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Convert qLD to CSR format.

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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
This commit is contained in:
Yuval Tassa
2025-02-18 07:13:49 -08:00
committed by Copybara-Service
parent 9fb4ec95f8
commit fb07e0d1f7
23 changed files with 160 additions and 159 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData