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Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.

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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
This commit is contained in:
Yuval Tassa
2025-03-04 17:33:48 -08:00
committed by Copybara-Service
parent 51f6aa8b43
commit 0f563ecf31
20 changed files with 95 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+2 -2
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@@ -272,7 +272,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1) mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM // computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1) mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1) mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree // computed by mj_collisionTree
@@ -305,7 +305,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3) mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit // computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1) mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1) mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData // computed by mj_resetData
include/mujoco/mjdata.h
+2 -2
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@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1) mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM // computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1) mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1) mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree // computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3) mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit // computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1) mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1) mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData // computed by mj_resetData
include/mujoco/mjxmacro.h
+2 -2
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@@ -650,7 +650,7 @@
X ( mjtNum, actuator_moment, nJmom, 1 ) \ X ( mjtNum, actuator_moment, nJmom, 1 ) \
X ( mjtNum, crb, nbody, 10 ) \ X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \ X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nC, 1 ) \ X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \ X ( mjtNum, qLDiagInv, nv, 1 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \ XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \ XMJV( mjtByte, bvh_active, nbvh, 1 ) \
@@ -667,7 +667,7 @@
X ( mjtNum, qfrc_passive, nv, 1 ) \ X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \ X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \ X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nC, 1 ) \ X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \ X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \ X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \ X ( int, B_rowadr, nbody, 1 ) \
mjx/mujoco/mjx/_src/io.py
+2 -2
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@@ -372,7 +372,7 @@ def make_data(
'efc_aref': (nefc, float), 'efc_aref': (nefc, float),
'efc_force': (nefc, float), 'efc_force': (nefc, float),
'_qM_sparse': (m.nM, float), '_qM_sparse': (m.nM, float),
'_qLD_sparse': (m.nC, float), '_qLD_sparse': (m.nM, float),
'_qLDiagInv_sparse': (m.nv, float), '_qLDiagInv_sparse': (m.nv, float),
} }
@@ -511,7 +511,7 @@ def get_data_into(
value = value[dof_i, dof_j] value = value[dof_i, dof_j]
elif field.name == 'qLD' and not support.is_sparse(m): elif field.name == 'qLD' and not support.is_sparse(m):
# TODO(erikfrey): provide correct qLDs # TODO(erikfrey): provide correct qLDs
value = np.zeros(m.nC) value = np.zeros(m.nM)
elif field.name == 'qLDiagInv' and not support.is_sparse(m): elif field.name == 'qLDiagInv' and not support.is_sparse(m):
value = np.ones(m.nv) value = np.ones(m.nv)
mjx/mujoco/mjx/_src/smooth_test.py
+2 -2
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@@ -92,8 +92,8 @@ class SmoothTest(absltest.TestCase):
# factor_m # factor_m
dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d)) dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
qLDLegacy = np.zeros(mx.nM) # pylint:disable=invalid-name qLDLegacy = np.zeros(mx.nM) # pylint:disable=invalid-name
for i in range(m.nC): for i in range(m.nM):
qLDLegacy[d.mapM2C[i]] = d.qLD[i] qLDLegacy[d.mapM2M[i]] = d.qLD[i]
_assert_eq(qLDLegacy, dx.qLD, 'qLD') _assert_eq(qLDLegacy, dx.qLD, 'qLD')
_assert_attr_eq(d, dx, 'qLDiagInv') _assert_attr_eq(d, dx, 'qLDiagInv')
_assert_eq(dx._qLD_sparse, np.zeros(0), '_qLD_sparse') _assert_eq(dx._qLD_sparse, np.zeros(0), '_qLD_sparse')
mjx/mujoco/mjx/_src/types.py
+1 -1
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@@ -1352,7 +1352,7 @@ class Data(PyTreeNode):
efc_aref: reference pseudo-acceleration (nefc,) efc_aref: reference pseudo-acceleration (nefc,)
efc_force: constraint force in constraint space (nefc,) efc_force: constraint force in constraint space (nefc,)
_qM_sparse: qM in sparse representation (nM,) _qM_sparse: qM in sparse representation (nM,)
_qLD_sparse: qLD in sparse representation (nC,) _qLD_sparse: qLD in sparse representation (nM,)
_qLDiagInv_sparse: qLDiagInv in sparse representation (nv,) _qLDiagInv_sparse: qLDiagInv in sparse representation (nv,)
""" # fmt: skip """ # fmt: skip
# constant sizes: # constant sizes:
python/mujoco/introspect/structs.py
+2 -2
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@@ -5356,7 +5356,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'), inner_type=ValueType(name='mjtNum'),
), ),
doc="L'*D*L factorization of M (sparse)", doc="L'*D*L factorization of M (sparse)",
array_extent=('nC',), array_extent=('nM',),
), ),
StructFieldDecl( StructFieldDecl(
name='qLDiagInv', name='qLDiagInv',
@@ -5492,7 +5492,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'), inner_type=ValueType(name='mjtNum'),
), ),
doc="L'*D*L factorization of modified M", doc="L'*D*L factorization of modified M",
array_extent=('nC',), array_extent=('nM',),
), ),
StructFieldDecl( StructFieldDecl(
name='qHDiagInv', name='qHDiagInv',
src/engine/engine_core_constraint.c
+9 -9
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@@ -2131,7 +2131,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// inverse square root of D from inertia LDL decomposition // inverse square root of D from inertia LDL decomposition
mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum); mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1; int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]); sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
} }
@@ -2167,11 +2167,11 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
continue; continue;
} }
// traverse row j of C, marking new unique nonzeros // traverse row j of M, marking new unique nonzeros
int nnzC = d->C_rownnz[j]; int nnzM = d->M_rownnz[j];
int adrC = d->C_rowadr[j]; int adrM = d->M_rowadr[j];
for (int k=0; k < nnzC; k++) { for (int k=0; k < nnzM; k++) {
int c = d->C_colind[adrC + k]; int c = d->M_colind[adrM + k];
if (marker[c] != r) { if (marker[c] != r) {
marker[c] = r; marker[c] = r;
nnz++; nnz++;
@@ -2251,10 +2251,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
continue; continue;
} }
int j = B_colind[i]; int j = B_colind[i];
int adrC = d->C_rowadr[j]; int adrM = d->M_rowadr[j];
mju_addToSclSparseInc(B + adrB, d->qLD + adrC, mju_addToSclSparseInc(B + adrB, d->qLD + adrM,
nnzB, B_colind + adrB, nnzB, B_colind + adrB,
d->C_rownnz[j]-1, d->C_colind + adrC, -b); d->M_rownnz[j]-1, d->M_colind + adrM, -b);
} }
// B(r,:) <- sqrt(inv(D)) * B(r,:) // B(r,:) <- sqrt(inv(D)) * B(r,:)
src/engine/engine_core_smooth.c
+12 -12
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@@ -1469,11 +1469,11 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd // sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) { void mj_factorM(const mjModel* m, mjData* d) {
TM_START; TM_START;
int nC = m->nC; int nM = m->nM;
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
d->qLD[i] = d->qM[d->mapM2C[i]]; d->qLD[i] = d->qM[d->mapM2M[i]];
} }
mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
TM_ADD(mjTIMER_POS_INERTIA); TM_ADD(mjTIMER_POS_INERTIA);
} }
@@ -1715,7 +1715,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
mju_copy(x, y, n*m->nv); mju_copy(x, y, n*m->nv);
} }
mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n, mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
@@ -1727,14 +1727,14 @@ void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* restrict x, int
const mjtNum* qLDiagInv = d->qLDiagInv; const mjtNum* qLDiagInv = d->qLDiagInv;
if (island < 0) { if (island < 0) {
mj_solveLD(x, qLD, qLDiagInv, m->nv, 1, mj_solveLD(x, qLD, qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
return; return;
} }
// local copies of key variables // local copies of key variables
const int* rownnz = d->C_rownnz; const int* rownnz = d->M_rownnz;
const int* rowadr = d->C_rowadr; const int* rowadr = d->M_rowadr;
const int* colind = d->C_colind; const int* colind = d->M_colind;
const int* diagnum = m->dof_simplenum; const int* diagnum = m->dof_simplenum;
// local constants: island specific // local constants: island specific
@@ -1785,9 +1785,9 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
int nv = m->nv; int nv = m->nv;
// local copies of key variables // local copies of key variables
const int* rownnz = d->C_rownnz; const int* rownnz = d->M_rownnz;
const int* rowadr = d->C_rowadr; const int* rowadr = d->M_rowadr;
const int* colind = d->C_colind; const int* colind = d->M_colind;
const int* diagnum = m->dof_simplenum; const int* diagnum = m->dof_simplenum;
const mjtNum* qLD = d->qLD; const mjtNum* qLD = d->qLD;
src/engine/engine_forward.c
+11 -11
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@@ -770,7 +770,7 @@ static void mj_advance(const mjModel* m, mjData* d,
// Euler integrator, semi-implicit in velocity, possibly skipping factorisation // Euler integrator, semi-implicit in velocity, possibly skipping factorisation
void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) { void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
TM_START; TM_START;
int nv = m->nv, nC = m->nC; int nv = m->nv, nM = m->nM;
mj_markStack(d); mj_markStack(d);
mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum); mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
mjtNum* qacc = mjSTACKALLOC(d, nv, mjtNum); mjtNum* qacc = mjSTACKALLOC(d, nv, mjtNum);
@@ -795,22 +795,22 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
else { else {
if (!skipfactor) { if (!skipfactor) {
// qH = M + h*diag(B) // qH = M + h*diag(B)
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
d->qH[i] = d->qM[d->mapM2C[i]]; d->qH[i] = d->qM[d->mapM2M[i]];
} }
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i]; d->qH[d->M_rowadr[i] + d->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
} }
// factorize in-place // factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
// solve // solve
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv); mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
mju_copy(qacc, qfrc, m->nv); mju_copy(qacc, qfrc, m->nv);
mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1, mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
// advance state and time // advance state and time
@@ -939,7 +939,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// fully implicit in velocity, possibly skipping factorization // fully implicit in velocity, possibly skipping factorization
void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) { void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
TM_START; TM_START;
int nv = m->nv, nM = m->nM, nD = m->nD, nC = m->nC; int nv = m->nv, nM = m->nM, nD = m->nD;
mj_markStack(d); mj_markStack(d);
mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum); mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
@@ -987,18 +987,18 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM); mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
// copy into qH // copy into qH
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
d->qH[i] = MhB[d->mapM2C[i]]; d->qH[i] = MhB[d->mapM2M[i]];
} }
// factorize in-place // factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
// solve for qacc: (qM - dt*qDeriv) * qacc = qfrc // solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
mju_copy(qacc, qfrc, nv); mju_copy(qacc, qfrc, nv);
mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1, mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} else { } else {
mjERROR("integrator must be implicit or implicitfast"); mjERROR("integrator must be implicit or implicitfast");
src/engine/engine_print.c
+3 -3
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@@ -1127,12 +1127,12 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printInertia("QM", d->qM, m, fp, float_format); printInertia("QM", d->qM, m, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->C_rownnz, printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
d->C_rowadr, d->C_colind, fp, float_format); d->M_rowadr, d->M_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format); printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
if (!mju_isZero(d->qHDiagInv, m->nv)) { if (!mju_isZero(d->qHDiagInv, m->nv)) {
printSparse("QH", d->qH, m->nv, d->C_rownnz, d->C_rowadr, d->C_colind, fp, float_format); printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format); printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
} }
src/engine/engine_support.c
+3 -3
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@@ -1097,14 +1097,14 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
// non-simple: add off-diagonals // non-simple: add off-diagonals
if (!m->dof_simplenum[i]) { if (!m->dof_simplenum[i]) {
int adr = d->C_rowadr[i]; int adr = d->M_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->C_rownnz[i] - 1, d->C_colind+adr, /*flg_unc1=*/0); res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr, /*flg_unc1=*/0);
} }
} }
// res *= sqrt(D) // res *= sqrt(D)
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1; int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
res[i] *= mju_sqrt(qLD[diag]); res[i] *= mju_sqrt(qLD[diag]);
} }
} }
src/engine/engine_vis_interact.c
+1 -1
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@@ -556,7 +556,7 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur
// compute average spatial inertia at selection point // compute average spatial inertia at selection point
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1; int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]); sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
} }
mj_jac(m, d, jac, NULL, selpos, sel); mj_jac(m, d, jac, NULL, selpos, sel);
test/benchmark/factorI_benchmark_test.cc
+4 -4
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@@ -44,9 +44,9 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
mj_markStack(d); mj_markStack(d);
// M: mass matrix in CSR format // M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC); mjtNum* M = mj_stackAllocNum(d, m->nM);
for (int i=0; i < m->nC; i++) { for (int i=0; i < m->nM; i++) {
M[i] = d->qM[d->mapM2C[i]]; M[i] = d->qM[d->mapM2M[i]];
} }
// LDlegacy: legacy LD matrix (size nM) // LDlegacy: legacy LD matrix (size nM)
@@ -60,7 +60,7 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
} else { } else {
mju_copy(d->qLD, M, m->nC); mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
} }
} }
test/benchmark/inertia_benchmark_test.cc
+5 -5
View File
@@ -46,9 +46,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
mj_markStack(d); mj_markStack(d);
// M: mass matrix in CSR format // M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC); mjtNum* M = mj_stackAllocNum(d, m->nM);
for (int i=0; i < m->nC; i++) { for (int i=0; i < m->nM; i++) {
M[i] = d->qM[d->mapM2C[i]]; M[i] = d->qM[d->mapM2M[i]];
} }
// LDlegacy: legacy LD matrix (size nM) // LDlegacy: legacy LD matrix (size nM)
@@ -74,9 +74,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
case SolveType::kCsr: case SolveType::kCsr:
mju_copy(d->qLD, M, m->nC); mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1, mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
} }
} }
test/benchmark/solveLD_benchmark_test.cc
+3 -4
View File
@@ -52,9 +52,8 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
// make legacy matrix // make legacy matrix
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM); mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_zero(LDlegacy, m->nM); for (int i=0; i < m->nM; i++) {
for (int i=0; i < m->nC; i++) { LDlegacy[d->mapM2M[i]] = d->qLD[i];
LDlegacy[d->mapM2C[i]] = d->qLD[i];
} }
// benchmark // benchmark
@@ -65,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv); mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
} else { } else {
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1, mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} }
} }
} }
test/engine/engine_core_smooth_test.cc
+26 -28
View File
@@ -476,7 +476,7 @@ TEST_F(CoreSmoothTest, FactorI) {
int nv = model->nv; int nv = model->nv;
vector<mjtNum> Ldense(nv*nv, 0); vector<mjtNum> Ldense(nv*nv, 0);
mju_sparse2dense(Ldense.data(), data->qLD, nv, nv, mju_sparse2dense(Ldense.data(), data->qLD, nv, nv,
data->C_rownnz, data->C_rowadr, data->C_colind); data->M_rownnz, data->M_rowadr, data->M_colind);
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
// set diagonal to 1 // set diagonal to 1
Ldense[i*nv+i] = 1; Ldense[i*nv+i] = 1;
@@ -485,7 +485,7 @@ TEST_F(CoreSmoothTest, FactorI) {
// dense D matrix // dense D matrix
vector<mjtNum> Ddense(nv*nv); vector<mjtNum> Ddense(nv*nv);
mju_sparse2dense(Ddense.data(), data->qLD, nv, nv, mju_sparse2dense(Ddense.data(), data->qLD, nv, nv,
data->C_rownnz, data->C_rowadr, data->C_colind); data->M_rownnz, data->M_rowadr, data->M_colind);
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
for (int j=0; j < nv; j++) { for (int j=0; j < nv; j++) {
// zero everything except the diagonal // zero everything except the diagonal
@@ -521,18 +521,17 @@ TEST_F(CoreSmoothTest, SolveLDs) {
int nv = m->nv; int nv = m->nv;
int nM = m->nM; int nM = m->nM;
int nC = m->nC;
// copy M into LD: Legacy format // copy M into LD: Legacy format
vector<mjtNum> LDlegacy(nM, 0); vector<mjtNum> LDlegacy(nM);
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
LDlegacy[d->mapM2C[i]] = d->qLD[i]; LDlegacy[d->mapM2M[i]] = d->qLD[i];
} }
// compare LD and LDs densified matrices // compare LD and LDs densified matrices
vector<mjtNum> LDdense(nv*nv); vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), d->qLD, nv, nv, mju_sparse2dense(LDdense.data(), d->qLD, nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind); d->M_rownnz, d->M_rowadr, d->M_colind);
vector<mjtNum> LDdense2(nv*nv); vector<mjtNum> LDdense2(nv*nv);
mj_fullM(m, LDdense2.data(), LDlegacy.data()); mj_fullM(m, LDdense2.data(), LDlegacy.data());
@@ -551,7 +550,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv); mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1, mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// expect vectors to match up to floating point precision // expect vectors to match up to floating point precision
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
@@ -573,12 +572,11 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
int nv = m->nv; int nv = m->nv;
int nM = m->nM; int nM = m->nM;
int nC = m->nC;
// copy LD into LDlegacy: Legacy format // copy LD into LDlegacy: Legacy format
vector<mjtNum> LDlegacy(nM, 0); vector<mjtNum> LDlegacy(nM);
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
LDlegacy[d->mapM2C[i]] = d->qLD[i]; LDlegacy[d->mapM2M[i]] = d->qLD[i];
} }
// compare n LD and LDs vector solve // compare n LD and LDs vector solve
@@ -590,7 +588,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv); mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n, mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// expect vectors to match up to floating point precision // expect vectors to match up to floating point precision
for (int i=0; i < nv*n; i++) { for (int i=0; i < nv*n; i++) {
@@ -614,7 +612,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
int nv = m->nv; int nv = m->nv;
vector<mjtNum> sqrtInvD(nv); vector<mjtNum> sqrtInvD(nv);
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1; int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]); sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
} }
@@ -628,7 +626,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n); mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n, mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v) // expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
for (int i=0; i < n; i++) { for (int i=0; i < n; i++) {
@@ -649,29 +647,29 @@ TEST_F(CoreSmoothTest, FactorIs) {
mjData* d = mj_makeData(m); mjData* d = mj_makeData(m);
mj_forward(m, d); mj_forward(m, d);
int nC = m->nC, nM = m->nM, nv = m->nv; int nM = m->nM, nv = m->nv;
// copy qM into into qLDlegacy and factorize // copy qM into into qLDlegacy and factorize
vector<mjtNum> qLDlegacy(nM); vector<mjtNum> qLDlegacy(nM);
mj_factorI_legacy(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv); mj_factorI_legacy(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv);
// copy qLDlegacy into qLDexpected: CSR format // copy qLDlegacy into qLDexpected: CSR format
vector<mjtNum> qLDexpected(nC); vector<mjtNum> qLDexpected(nM);
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
qLDexpected[i] = qLDlegacy[d->mapM2C[i]]; // mj_factorIs is in-place qLDexpected[i] = qLDlegacy[d->mapM2M[i]];
} }
// copy qM into qLD: CSR format // copy qM into qLD: CSR format
vector<mjtNum> qLD(nC); vector<mjtNum> qLD(nM);
for (int i=0; i < nC; i++) { for (int i=0; i < nM; i++) {
qLD[i] = d->qM[d->mapM2C[i]]; // mj_factorIs is in-place qLD[i] = d->qM[d->mapM2M[i]]; // mj_factorI is in-place
} }
vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv); vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
vector<mjtNum> qLDiagInv(nv, 0); vector<mjtNum> qLDiagInv(nv, 0);
mj_factorI(qLD.data(), qLDiagInv.data(), nv, mj_factorI(qLD.data(), qLDiagInv.data(), nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// expect outputs to match to floating point precision // expect outputs to match to floating point precision
EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected)); EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
@@ -681,12 +679,12 @@ TEST_F(CoreSmoothTest, FactorIs) {
vector<mjtNum> LDdense(nv*nv); vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), qLDexpected.data(), nv, nv, mju_sparse2dense(LDdense.data(), qLDexpected.data(), nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind); d->M_rownnz, d->M_rowadr, d->M_colind);
PrintMatrix(LDdense.data(), nv, nv, 2); PrintMatrix(LDdense.data(), nv, nv, 2, "qLDexpected");
mju_sparse2dense(LDdense.data(), qLDs.data(), nv, nv, mju_sparse2dense(LDdense.data(), qLD.data(), nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind); d->M_rownnz, d->M_rowadr, d->M_colind);
PrintMatrix(LDdense.data(), nv, nv, 2); PrintMatrix(LDdense.data(), nv, nv, 2, "qLD");
*/ */
mj_deleteData(d); mj_deleteData(d);
test/engine/engine_derivative_test.cc
+2 -2
View File
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i]; Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
} }
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv, mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// A = [dt*Ac; Ac] // A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv); mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz, mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind); d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu, mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind); d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mju_transpose(BcT, Bc, nu, nv); mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv); mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv); mju_scl(B+nu*nv, BcT, dt, nu*nv);
test/engine/engine_support_test.cc
-1
View File
@@ -32,7 +32,6 @@ namespace {
using ::std::vector; using ::std::vector;
using ::testing::ContainsRegex; // NOLINT using ::testing::ContainsRegex; // NOLINT
using ::testing::DoubleNear; using ::testing::DoubleNear;
using ::testing::ElementsAreArray;
using ::testing::Eq; using ::testing::Eq;
using ::testing::MatchesRegex; using ::testing::MatchesRegex;
using ::testing::NotNull; using ::testing::NotNull;
test/fixture.h
+3 -2
View File
@@ -113,9 +113,10 @@ inline std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
} }
// Prints a matrix to stderr, useful for debugging. // Prints a matrix to stderr, useful for debugging.
inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5) { inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5,
std::string_view name = "") {
std::cerr.precision(p); std::cerr.precision(p);
std::cerr << "\n"; std::cerr << name << "\n";
for (int r = 0; r < nrow; r++) { for (int r = 0; r < nrow; r++) {
for (int c = 0; c < ncol; c++) { for (int c = 0; c < ncol; c++) {
mjtNum val = mat[c + r*ncol]; mjtNum val = mat[c + r*ncol];