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Stop over-allocating memory in Newton solver.

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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
This commit is contained in:
Yuval Tassa
2024-10-11 05:08:27 -07:00
committed by Copybara-Service
parent 9aca4bccac
commit 2dd518734f
8 changed files with 220 additions and 99 deletions
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src/engine/engine_util_solve.h
+4 -3
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@@ -33,8 +33,9 @@ MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
// mat must have uncompressed layout; rownnz is modified to end at diagonal
int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag, int* rownnz, int* rowadr, int* colind,
// mat must be lower-triangular, have preallocated space for fill-in
int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
int* rownnz, const int* rowadr, int* colind,
mjData* d);
// sparse reverse-order Cholesky solve
@@ -44,7 +45,7 @@ void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
// sparse reverse-order Cholesky rank-one update: L'*L +/i x*x'; return rank
// x is sparse, change in sparsity pattern of mat is not allowed
int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
int* rownnz, int* rowadr, int* colind, int x_nnz, int* x_ind,
const int* rownnz, const int* rowadr, int* colind, int x_nnz, int* x_ind,
mjData* d);
// band-dense Cholesky decomposition