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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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test/engine/engine_util_sparse_test.cc
+41 -12
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@@ -173,8 +173,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose3by3) {
int rownnzT[] = {0, 0, 0};
int rowadrT[] = {0, 0, 0};
mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, nullptr,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1, 2, 1, 3));
EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 2));
@@ -197,8 +197,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose1by3) {
int rownnzT[] = {0, 0, 0};
int rowadrT[] = {0, 0, 0};
mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, nullptr,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1, 3));
EXPECT_THAT(colindT, ElementsAre(0, 0));
@@ -221,8 +221,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose3by1) {
int rownnzT[] = {0};
int rowadrT[] = {0};
mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, nullptr,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1, 3));
EXPECT_THAT(colindT, ElementsAre(0, 2));
@@ -244,14 +244,43 @@ TEST_F(EngineUtilSparseTest, MjuTransposeDense) {
int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
int rownnzT[] = {0, 0, 0};
int rowadrT[] = {0, 0, 0};
int rowsuperT[] = {0, 0, 0};
mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rowsuperT,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1, 4, 7, 2, 5, 8, 3, 6, 9));
EXPECT_THAT(colindT, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
EXPECT_THAT(rownnzT, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrT, ElementsAre(0, 3, 6));
EXPECT_THAT(rowsuperT, ElementsAre(2, 1, 0));
}
TEST_F(EngineUtilSparseTest, MjuTransposeSuper) {
// mat: 0, 1, 2, 0, 3, 4, 5, 0, 0, 0, 0, 0, 0
// 0, 0, 0, 6, 7, 8, 9, 10, 11, 12, 0, 0, 0
//
// super: 0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2, 1, 0
mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
int colind[] = {1, 2, 4, 5, 6, 3, 4, 5, 6, 7, 8, 9};
int rownnz[] = {5, 7};
int rowadr[] = {0, 5};
mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int rownnzT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int rowadrT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int rowsuperT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
mju_transposeSparse(matT, mat, 2, 13, rownnzT, rowadrT, colindT, rowsuperT,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1, 2, 6, 3, 7, 4, 8, 5, 9, 10, 11, 12));
EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1));
EXPECT_THAT(rownnzT, ElementsAre(0, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0, 0, 0));
EXPECT_THAT(rowadrT, ElementsAre(0, 0, 1, 2, 3, 5, 7, 9, 10, 11, 12, 12, 12));
EXPECT_THAT(rowsuperT, ElementsAre(0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2, 1, 0));
}
TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
@@ -267,8 +296,8 @@ TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
int rownnzT[] = {0};
int rowadrT[] = {0};
mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, nullptr,
rownnz, rowadr, colind);
EXPECT_THAT(matT, ElementsAre(1));
EXPECT_THAT(colindT, ElementsAre(0));
@@ -289,8 +318,8 @@ TEST_F(EngineUtilSparseTest, MjuTransposeNullMatrix) {
int rownnzT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
int rowadrT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind);
mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, nullptr,
rownnz, rowadr, colind);
EXPECT_THAT(rownnzT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
EXPECT_THAT(rowadrT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));