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Speed up sparse supernode detection by combining it with transposition.

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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
This commit is contained in:
Yuval Tassa
2025-05-19 10:13:20 -07:00
committed by Copybara-Service
parent ced630181d
commit 45fc15b844
6 changed files with 115 additions and 36 deletions
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src/engine/engine_util_sparse.h
+2 -2
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@@ -91,9 +91,9 @@ int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum s
int mju_addChains(int* res, int n, int NV1, int NV2,
const int* chain1, const int* chain2);
// transpose sparse matrix
// transpose sparse matrix, optionally compute row supernodes
MJAPI void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,
int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
const int* rownnz, const int* rowadr, const int* colind);
// construct row supernodes