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
@@ -61,7 +61,8 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
    std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);

    // expect accelerations to be insignificantly different
-    EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
+    EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse))
+        << "failed equivalence for solver=" << solver;
  }

  mj_deleteData(data);