Yuval Tassa a6b338db64 mju_boxQP only reads from the lower triangle of the input Hessian. ...

- Before this change, an asymmetric Hessian would lead to solver failure. After this change the Hessian is symmetric by definition (upper triangle is ignored).
- API documentation was updated to reflect this contract.

PiperOrigin-RevId: 477135411
Change-Id: I60d011d36853afebac26c359771c217baf101360

2022-09-27 04:32:40 -07:00

..

mujoco

mju_boxQP only reads from the lower triangle of the input Hessian.

2022-09-27 04:32:40 -07:00