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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_util_sparse.h
+6 -6
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@@ -25,14 +25,14 @@ extern "C" {
//------------------------------ sparse operations -------------------------------------------------
// dot-product, first vector is sparse
// dot-product, vec1 is sparse, can be uncompressed
MJAPI mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
const int nnz1, const int* ind1);
const int nnz1, const int* ind1, int flg_unc1);
// 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);
// 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);
// convert matrix from dense to sparse
MJAPI void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,