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Compute diagonal indices in mj_sqrMatTDSparse

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PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
This commit is contained in:
Yuval Tassa
2025-01-09 10:16:37 -08:00
committed by Copybara-Service
parent daba00ca9d
commit 00010f5848
6 changed files with 53 additions and 34 deletions
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src/engine/engine_util_sparse.h
+2 -3
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@@ -89,8 +89,7 @@ MJAPI void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
MJAPI void mju_superSparse(int nr, int* rowsuper,
const int* rownnz, const int* rowadr, const int* colind);
// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
// res_rowadr is required to be precomputed
// compute sparse M'*diag*M (diag=NULL: compute M'*M), res_rowadr must be precomputed
MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, const int* res_rowadr, int* res_colind,
@@ -98,7 +97,7 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
const int* colind, const int* rowsuper,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d, int flg_upper);
mjData* d, int* diagind);
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,