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Remove meaningless const qualifier for scalar arguments in sparse function signatures.

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PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
This commit is contained in:
Yuval Tassa
2024-09-27 06:36:13 -07:00
committed by Copybara-Service
parent 6a6e10d779
commit 176345b4e1
3 changed files with 15 additions and 17 deletions
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src/engine/engine_util_sparse.c
+5 -6
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@@ -29,8 +29,8 @@
// dot-product, first vector is sparse // dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed // flg_unc1: is vec1 memory layout uncompressed
mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
const int nnz1, const int* ind1, int flg_unc1) { int flg_unc1) {
#ifdef mjUSEAVX #ifdef mjUSEAVX
return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1); return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1);
#else #else
@@ -80,7 +80,7 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
// dot-productX3, first vector is sparse; supernode of size 3 // dot-productX3, first vector is sparse; supernode of size 3
void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2, void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12, 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 #ifdef mjUSEAVX
mju_dotSparseX3_avx(res0, res1, res2, vec10, vec11, vec12, vec2, nnz1, ind1); mju_dotSparseX3_avx(res0, res1, res2, vec10, vec11, vec12, vec2, nnz1, ind1);
#else #else
@@ -110,9 +110,8 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
// dot-product, both vectors are sparse // dot-product, both vectors are sparse
// flg_unc2: is vec2 memory layout uncompressed // flg_unc2: is vec2 memory layout uncompressed
mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, int nnz2,
const int nnz1, const int* ind1, const int* ind2, int flg_unc2) {
const int nnz2, const int* ind2, int flg_unc2) {
int i1 = 0, i2 = 0; int i1 = 0, i2 = 0;
mjtNum res = 0; mjtNum res = 0;
src/engine/engine_util_sparse.h
+4 -5
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@@ -26,13 +26,12 @@ extern "C" {
//------------------------------ sparse operations ------------------------------------------------- //------------------------------ sparse operations -------------------------------------------------
// dot-product, vec1 is sparse, can be uncompressed // dot-product, vec1 is sparse, can be uncompressed
MJAPI mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, MJAPI mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
const int nnz1, const int* ind1, int flg_unc1); int flg_unc1);
// dot-product, both vectors are sparse, vec2 can be uncompressed // dot-product, both vectors are sparse, vec2 can be uncompressed
MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
const int nnz1, const int* ind1, int nnz2, const int* ind2, int flg_unc2);
const int nnz2, const int* ind2, int flg_unc2);
// convert matrix from dense to sparse // convert matrix from dense to sparse
MJAPI void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc, MJAPI void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
src/engine/engine_util_sparse_avx.h
+6 -6
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@@ -32,8 +32,8 @@
// dot-product, first vector is sparse // dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed // flg_unc1: is vec1 memory layout uncompressed
static inline static inline
mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
const int nnz1, const int* ind1, int flg_unc1) { int flg_unc1) {
int i = 0; int i = 0;
mjtNum res = 0; mjtNum res = 0;
int nnz1_4 = nnz1 - 4; int nnz1_4 = nnz1 - 4;
@@ -115,7 +115,7 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2,
static inline static inline
void mju_dotSparseX3_avx(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10, void mju_dotSparseX3_avx(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10,
const mjtNum* vec11, const mjtNum* vec12, const mjtNum* vec2, const mjtNum* vec11, const mjtNum* vec12, const mjtNum* vec2,
const int nnz1, const int* ind1) { int nnz1, const int* ind1) {
int i = 0; int i = 0;
// clear result // clear result
@@ -209,7 +209,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
if (!rowsuper) { if (!rowsuper) {
// regular sparse dot-product // regular sparse dot-product
for (int r=0; r<nr; r++) { for (int r=0; r<nr; r++) {
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);
} }
return; return;
@@ -232,7 +232,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// handle remaining rows // handle remaining rows
while (rs>0) { while (rs>0) {
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++; r++;
rs--; rs--;
@@ -243,7 +243,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
} }
else { 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);
} }
} }
} }