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Move mju_cholFactorCount to engine_util_solve.

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PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
This commit is contained in:
Yuval Tassa
2025-04-10 06:55:37 -07:00
committed by Copybara-Service
parent 3c530976e3
commit 25126e88c7
7 changed files with 150 additions and 152 deletions
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test/engine/engine_util_solve_test.cc
+75 -1
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@@ -21,7 +21,6 @@
#include <random>
#include <iomanip>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
@@ -36,6 +35,7 @@ namespace {
using ::testing::DoubleEq;
using ::testing::Pointwise;
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::std::string;
using ::std::setw;
using QCQP2Test = MujocoTest;
@@ -649,5 +649,79 @@ TEST_F(BandMatrixTest, Solve) {
}
}
using EngineUtilSolveTest = MujocoTest;
TEST_F(EngineUtilSolveTest, MjuCholFactorNNZ) {
mjModel* model = LoadModelFromString("<mujoco/>");
mjData* d = mj_makeData(model);
int nA = 2;
mjtNum matA[4] = {1, 0,
0, 1};
mjtNum sparseA[4];
int rownnzA[2];
int rowadrA[2];
int colindA[4];
int rownnzA_factor[2];
mju_dense2sparse(sparseA, matA, nA, nA, rownnzA, rowadrA, colindA, 4);
int nnzA = mju_cholFactorCount(rownnzA_factor,
rownnzA, rowadrA, colindA, nA, d);
EXPECT_EQ(nnzA, 2);
EXPECT_THAT(AsVector(rownnzA_factor, 2), ElementsAre(1, 1));
int nB = 3;
mjtNum matB[9] = {10, 1, 0,
0, 10, 1,
0, 0, 10};
mjtNum sparseB[9];
int rownnzB[3];
int rowadrB[3];
int colindB[9];
int rownnzB_factor[3];
mju_dense2sparse(sparseB, matB, nB, nB, rownnzB, rowadrB, colindB, 9);
int nnzB = mju_cholFactorCount(rownnzB_factor,
rownnzB, rowadrB, colindB, nB, d);
EXPECT_EQ(nnzB, 5);
EXPECT_THAT(AsVector(rownnzB_factor, 3), ElementsAre(1, 2, 2));
int nC = 3;
mjtNum matC[9] = {10, 1, 0,
0, 10, 0,
0, 0, 10};
mjtNum sparseC[9];
int rownnzC[3];
int rowadrC[3];
int colindC[9];
int rownnzC_factor[3];
mju_dense2sparse(sparseC, matC, nC, nC, rownnzC, rowadrC, colindC, 9);
int nnzC = mju_cholFactorCount(rownnzC_factor,
rownnzC, rowadrC, colindC, nC, d);
EXPECT_EQ(nnzC, 4);
EXPECT_THAT(AsVector(rownnzC_factor, 3), ElementsAre(1, 2, 1));
int nD = 4;
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];
int colindD[16];
int rownnzD_factor[4];
mju_dense2sparse(sparseD, matD, nD, nD, rownnzD, rowadrD, colindD, 16);
int nnzD = mju_cholFactorCount(rownnzD_factor,
rownnzD, rowadrD, colindD, nD, d);
EXPECT_EQ(nnzD, 8);
EXPECT_THAT(AsVector(rownnzD_factor, 4), ElementsAre(1, 2, 2, 3));
mj_deleteData(d);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco