chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 Packages Projects Releases Wiki Activity

Improve comments in mju_cholFactorNNZ, clarify that this function reads from the upper triangle of the source matrix.

Browse Source 
PiperOrigin-RevId: 686113654
Change-Id: I029f9279d177f4cb9ff60396a26d64821aee3a6c
This commit is contained in:
Yuval Tassa
2024-10-15 08:25:21 -07:00
committed by Copybara-Service
parent 096853e192
commit 0ffaeb4d56
2 changed files with 26 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_util_sparse_test.cc
+12 -16
View File
@@ -975,10 +975,9 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
mjModel* model = LoadModelFromString(modelStr);
mjData* d = mj_makeData(model);
// A = [[1, 0],
// [0, 1]]
int nA = 2;
mjtNum matA[4] = {1, 0, 0, 1};
mjtNum matA[4] = {1, 0,
0, 1};
mjtNum sparseA[4];
int rownnzA[2];
int rowadrA[2];
@@ -991,11 +990,10 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
EXPECT_EQ(nnzA, 2);
EXPECT_THAT(AsVector(rownnzA_factor, 2), ElementsAre(1, 1));
// B = [[10, 1, 0],
// [1, 10, 1],
// [0, 1, 10]]
int nB = 3;
mjtNum matB[9] = {10, 1, 0, 1, 10, 1, 0, 1, 10};
mjtNum matB[9] = {10, 1, 0,
0, 10, 1,
0, 0, 10};
mjtNum sparseB[9];
int rownnzB[3];
int rowadrB[3];
@@ -1008,11 +1006,10 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
EXPECT_EQ(nnzB, 5);
EXPECT_THAT(AsVector(rownnzB_factor, 3), ElementsAre(1, 2, 2));
// C = [[10, 1, 0],
// [1, 10, 0],
// [0, 0, 10]]
int nC = 3;
mjtNum matC[9] = {10, 1, 0, 1, 10, 0, 0, 0, 10};
mjtNum matC[9] = {10, 1, 0,
0, 10, 0,
0, 0, 10};
mjtNum sparseC[9];
int rownnzC[3];
int rowadrC[3];
@@ -1025,12 +1022,11 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
EXPECT_EQ(nnzC, 4);
EXPECT_THAT(AsVector(rownnzC_factor, 3), ElementsAre(1, 2, 1));
// D = [[10, 1, 2, 3],
// [1, 10, 0, 0],
// [2, 0, 10, 1],
// [3, 0, 1, 10]]
int nD = 4;
mjtNum matD[16] = {10, 1, 2, 3, 1, 10, 0, 0, 2, 0, 10, 1, 3, 0, 1, 10};
mjtNum matD[16] = {10, 1, 2, 3,
0, 10, 0, 0,
0, 0, 10, 1,
0, 0, 0, 10};
mjtNum sparseD[16];
int rownnzD[4];
int rowadrD[4];