From 176345b4e16dd112c26ee86628d1655ce51a402a Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 27 Sep 2024 06:36:13 -0700 Subject: [PATCH] Remove meaningless `const` qualifier for scalar arguments in sparse function signatures. PiperOrigin-RevId: 679568516 Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1 --- src/engine/engine_util_sparse.c | 11 +++++------ src/engine/engine_util_sparse.h | 9 ++++----- src/engine/engine_util_sparse_avx.h | 12 ++++++------ 3 files changed, 15 insertions(+), 17 deletions(-) diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c index da9982f4..c44c6cd3 100644 --- a/src/engine/engine_util_sparse.c +++ b/src/engine/engine_util_sparse.c @@ -29,8 +29,8 @@ // dot-product, first vector is sparse // flg_unc1: is vec1 memory layout uncompressed -mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, - const int nnz1, const int* ind1, int flg_unc1) { +mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, + int flg_unc1) { #ifdef mjUSEAVX return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1); #else @@ -80,7 +80,7 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, // dot-productX3, first vector is sparse; supernode of size 3 void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12, - const mjtNum* vec2, const int nnz1, const int* ind1) { + const mjtNum* vec2, int nnz1, const int* ind1) { #ifdef mjUSEAVX mju_dotSparseX3_avx(res0, res1, res2, vec10, vec11, vec12, vec2, nnz1, ind1); #else @@ -110,9 +110,8 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2, // dot-product, both vectors are sparse // flg_unc2: is vec2 memory layout uncompressed -mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, - const int nnz1, const int* ind1, - const int nnz2, const int* ind2, int flg_unc2) { +mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, int nnz2, + const int* ind2, int flg_unc2) { int i1 = 0, i2 = 0; mjtNum res = 0; diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h index b3619dcd..239385c6 100644 --- a/src/engine/engine_util_sparse.h +++ b/src/engine/engine_util_sparse.h @@ -26,13 +26,12 @@ extern "C" { //------------------------------ sparse operations ------------------------------------------------- // dot-product, vec1 is sparse, can be uncompressed -MJAPI mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, - const int nnz1, const int* ind1, int flg_unc1); +MJAPI mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, + int flg_unc1); // dot-product, both vectors are sparse, vec2 can be uncompressed -MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, - const int nnz1, const int* ind1, - const int nnz2, const int* ind2, int flg_unc2); +MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, + int nnz2, const int* ind2, int flg_unc2); // convert matrix from dense to sparse MJAPI void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc, diff --git a/src/engine/engine_util_sparse_avx.h b/src/engine/engine_util_sparse_avx.h index c7f2f219..708db7c7 100644 --- a/src/engine/engine_util_sparse_avx.h +++ b/src/engine/engine_util_sparse_avx.h @@ -32,8 +32,8 @@ // dot-product, first vector is sparse // flg_unc1: is vec1 memory layout uncompressed static inline -mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, - const int nnz1, const int* ind1, int flg_unc1) { +mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, + int flg_unc1) { int i = 0; mjtNum res = 0; int nnz1_4 = nnz1 - 4; @@ -115,7 +115,7 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, static inline void mju_dotSparseX3_avx(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12, const mjtNum* vec2, - const int nnz1, const int* ind1) { + int nnz1, const int* ind1) { int i = 0; // clear result @@ -209,7 +209,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec, if (!rowsuper) { // regular sparse dot-product for (int r=0; r0) { - res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc2=*/0); + res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0); r++; rs--; @@ -243,7 +243,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec, } else { - res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc2=*/0); + res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0); } } }