Convert qLD to CSR format.

PiperOrigin-RevId: 728196818 Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:13:49 -08:00
parent 9fb4ec95f8
commit fb07e0d1f7
23 changed files with 160 additions and 159 deletions
@@ -1127,7 +1127,8 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena

  printInertia("QM", d->qM, m, fp, float_format);

-  printInertia("QLD", d->qLD, m, fp, float_format);
+  printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
+              d->C_rowadr, d->C_colind, fp, float_format);
  printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);

  // B sparse structure