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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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src/engine/engine_core_smooth.h
+1 -2
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@@ -71,9 +71,8 @@ MJAPI void mj_solveLDs(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, i
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// TODO(tassa): Restore mjData const-ness.
// sparse backsubstitution for one island: x = inv(L'*D*L)*x, use factorization in d
MJAPI void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* x, int island);
MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,