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Add tests for mju_cholUpdate and mju_cholUpdateSparse.

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PiperOrigin-RevId: 845229292
Change-Id: Ide1406f85e49fe5a5b339bedff7ff6dd8099e5e8
This commit is contained in:
Yuval Tassa
2025-12-16 05:58:50 -08:00
committed by Copybara-Service
parent 2b9940bc67
commit 08b4b4144d
2 changed files with 221 additions and 7 deletions
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src/engine/engine_util_solve.h
+5 -6
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@@ -33,9 +33,8 @@ MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
// mat must be lower-triangular, have preallocated space for fill-in
int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
int* rownnz, const int* rowadr, int* colind,
mjData* d);
MJAPI int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
int* rownnz, const int* rowadr, int* colind, mjData* d);
// precount row non-zeros of reverse-Cholesky factor L, return total
MJAPI int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr,
@@ -47,9 +46,9 @@ void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
// sparse reverse-order Cholesky rank-one update: L'*L +/i x*x'; return rank
// x is sparse, change in sparsity pattern of mat is not allowed
int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
const int* rownnz, const int* rowadr, const int* colind,
int x_nnz, int* x_ind, mjData* d);
MJAPI int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
const int* rownnz, const int* rowadr, const int* colind,
int x_nnz, int* x_ind, mjData* d);
// band-dense Cholesky decomposition
// returns minimum value in the factorized diagonal, or 0 if rank-deficient