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Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.

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PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
This commit is contained in:
Yuval Tassa
2023-09-01 07:39:27 -07:00
committed by Copybara-Service
parent 70c5fa50f2
commit 29aa5e4a41
7 changed files with 143 additions and 50 deletions
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src/engine/engine_core_constraint.c
+4 -4
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@@ -420,7 +420,7 @@ void mj_mulJacVec_island(const mjModel* m, const mjData* d,
int Jrowadr = d->efc_J_rowadr[row];
int* Jind = d->efc_J_colind + Jrowadr;
mjtNum* J = d->efc_J + Jrowadr;
res[i] = mju_dotSparse2(vec, J, vecnnz, vecind, Jnnz, Jind);
res[i] = mju_dotSparse2(vec, J, vecnnz, vecind, Jnnz, Jind, /*flg_unc2=*/0);
}
}
@@ -428,7 +428,7 @@ void mj_mulJacVec_island(const mjModel* m, const mjData* d,
else {
int nv = m->nv;
for (int i=0; i < resnnz; i++) {
res[i] = mju_dotSparse(vec, d->efc_J + nv*resind[i], vecnnz, vecind);
res[i] = mju_dotSparse(vec, d->efc_J + nv*resind[i], vecnnz, vecind, /*flg_unc1=*/0);
}
}
}
@@ -481,7 +481,7 @@ void mj_mulJacTVec_island(const mjModel* m, const mjData* d,
int JTrowadr = d->efc_JT_rowadr[row];
int* JTind = d->efc_JT_colind + JTrowadr;
mjtNum* JT = d->efc_JT + JTrowadr;
res[i] = mju_dotSparse2(vec, JT, vecnnz, vecind, JTnnz, JTind);
res[i] = mju_dotSparse2(vec, JT, vecnnz, vecind, JTnnz, JTind, /*flg_unc2=*/0);
}
}
@@ -489,7 +489,7 @@ void mj_mulJacTVec_island(const mjModel* m, const mjData* d,
else {
int nefc = d->nefc;
for (int i=0; i < resnnz; i++) {
res[i] = mju_dotSparse(vec, d->efc_JT + nefc*resind[i], vecnnz, vecind);
res[i] = mju_dotSparse(vec, d->efc_JT + nefc*resind[i], vecnnz, vecind, /*flg_unc1=*/0);
}
}
}