Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjtnum.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//------------------------------ sparse operations -------------------------------------------------
+
+// dot-product, first vector is sparse
+mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
+                     const int nnz1, const int* ind1);
+
+// dot-product, both vectors are sparse
+mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2,
+                      const int nnz1, const int* ind1,
+                      const int nnz2, const int* ind2);
+
+// convert matrix from dense to sparse
+void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                      int* rownnz, int* rowadr, int* colind);
+
+// convert matrix from sparse to dense
+void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                      const int* rownnz, const int* rowadr, const int* colind);
+
+// multiply sparse matrix and dense vector:  res = mat * vec
+void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
+                         int nr, const int* rownnz, const int* rowadr,
+                         const int* colind, const int* rowsuper);
+
+// compress layout of sparse matrix
+void mju_compressSparse(mjtNum* mat, int nr, int nc,
+                        int* rownnz, int* rowadr, int* colind);
+
+// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
+int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
+                      int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
+                      mjtNum* buf, int* buf_ind);
+
+// incomplete combine sparse: dst = a*dst + b*src at common indices
+void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
+                          int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind);
+
+// transpose sparse matrix
+void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
+                         int* res_rownnz, int* res_rowadr, int* res_colind,
+                         const int* rownnz, const int* rowadr, const int* colind);
+
+// construct row supernodes
+void mju_superSparse(int nr, int* rowsuper,
+                     const int* rownnz, const int* rowadr, const int* colind);
+
+// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
+void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
+                        const mjtNum* diag, int nr, int nc,
+                        int* res_rownnz, int* res_rowadr, int* res_colind,
+                        const int* rownnz, const int* rowadr,
+                        const int* colind, const int* rowsuper,
+                        const int* rownnzT, const int* rowadrT,
+                        const int* colindT, const int* rowsuperT,
+                        mjData* d);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_