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Add mju_addToSymSparse

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- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.

PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
This commit is contained in:
Yuval Tassa
2025-05-12 16:18:51 -07:00
committed by Copybara-Service
parent 755564a348
commit 436b5a8e1f
7 changed files with 109 additions and 19 deletions
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src/engine/engine_util_sparse.h
+11
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@@ -50,6 +50,17 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
// add sparse matrix M to sparse destination matrix, requires pre-allocated buffers
MJAPI void mju_addToMatSparse(mjtNum* dst, int* rownnz, int* rowadr, int* colind, int nr,
const mjtNum* M, const int* M_rownnz, const int* M_rowadr,
const int* M_colind,
mjtNum* buf_val, int* buf_ind);
// add symmetric matrix (only lower triangle represented) to dense matrix
MJAPI void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
const int* rownnz, const int* rowadr, const int* colind,
int flg_upper);
// multiply symmetric matrix (only lower triangle represented) by vector:
// res = (mat + strict_upper(mat')) * vec
MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,