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Allow transposing of sparse sub-matrices whose first row is > 0

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PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
This commit is contained in:
Yuval Tassa
2025-08-21 05:55:43 -07:00
committed by Copybara-Service
parent c7a82c32dc
commit 174a50442d
2 changed files with 102 additions and 2 deletions
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src/engine/engine_util_sparse.c
+7 -2
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@@ -535,12 +535,17 @@ int mju_compressSparse(mjtNum* mat, int nr, int nc, int* rownnz, int* rowadr, in
void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
const int* rownnz, const int* rowadr, const int* colind) {
if (!nr || !nc) return;
// clear number of non-zeros for each row of transposed
mju_zeroInt(res_rownnz, nc);
// handle the case where the first row of mat is nonzero (offset wrt the base pointers)
int row_offset = rowadr[0];
// count the number of non-zeros for each row of the transposed matrix
for (int r = 0; r < nr; r++) {
int start = rowadr[r];
int start = rowadr[r] - row_offset;
int end = start + rownnz[r];
for (int j = start; j < end; j++) {
res_rownnz[colind[j]]++;
@@ -564,7 +569,7 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
// iterate through each row (column) of mat (res)
for (int r = 0; r < nr; r++) {
int c_prev = -1;
int start = rowadr[r];
int start = rowadr[r] - row_offset;
int end = start + rownnz[r];
for (int i = start; i < end; i++) {
// swap rows with columns and increment res_rowadr