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Remove mjMARKSTACK and mjFREESTACK macros.

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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
This commit is contained in:
Saran Tunyasuvunakool
2023-09-05 11:41:01 -07:00
committed by Copybara-Service
parent 329ed193ac
commit 4929077211
35 changed files with 239 additions and 258 deletions
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test/benchmark/engine_util_sparse_benchmark_test.cc
+13 -10
View File
@@ -15,6 +15,9 @@
// A benchmark for comparing different implementations of mj_solveLD.
#include <cstddef>
#include <cstring>
#include <vector>
#include <benchmark/benchmark.h>
#include <gtest/gtest.h>
#include <absl/base/attributes.h>
@@ -47,7 +50,7 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
const int* rownnz, const int* rowadr, const int* colind,
const int* rowsuper, const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT, mjData* d) {
mjMARKSTACK;
mj_markStack(d);
int* chain = mj_stackAllocInt(d, 2 * nc);
mjtNum* buffer = mj_stackAllocNum(d, nc);
@@ -149,7 +152,7 @@ void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
}
}
mjFREESTACK;
mj_freeStack(d);
}
// transpose sparse matrix (uncompressed)
@@ -354,7 +357,7 @@ static void BM_MatVecSparse(benchmark::State& state, int unroll) {
}
// allocate gradient
mjMARKSTACK;
mj_markStack(d);
mjtNum *Ma = mj_stackAllocNum(d, m->nv);
mjtNum *vec = mj_stackAllocNum(d, m->nv);
mjtNum *res = mj_stackAllocNum(d, d->nefc);
@@ -395,7 +398,7 @@ static void BM_MatVecSparse(benchmark::State& state, int unroll) {
}
// finalize
mjFREESTACK;
mj_freeStack(d);
mj_deleteData(d);
state.SetItemsProcessed(state.iterations());
}
@@ -433,7 +436,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
}
// allocate
mjMARKSTACK;
mj_markStack(d);
mjtNum* H = mj_stackAllocNum(d, m->nv*m->nv);
int* rownnz = mj_stackAllocInt(d, m->nv);
int* rowadr = mj_stackAllocInt(d, m->nv);
@@ -478,7 +481,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
}
// finalize
mjFREESTACK;
mj_freeStack(d);
mj_deleteData(d);
state.SetItemsProcessed(state.iterations());
}
@@ -510,7 +513,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
mj_step(m, d);
}
mjMARKSTACK;
mj_markStack(d);
// need uncompressed layout
mjtNum* res = mj_stackAllocNum(d, m->nv * d->nefc);
@@ -524,7 +527,7 @@ static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func) {
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
}
mjFREESTACK;
mj_freeStack(d);
mj_deleteData(d);
state.SetItemsProcessed(state.iterations());
}
@@ -556,7 +559,7 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
}
// allocate
mjMARKSTACK;
mj_markStack(d);
mjtNum* H = mj_stackAllocNum(d, m->nv * m->nv);
int* rownnz = mj_stackAllocInt(d, m->nv);
int* rowadr = mj_stackAllocInt(d, m->nv);
@@ -598,7 +601,7 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
}
// finalize
mjFREESTACK;
mj_freeStack(d);
mj_deleteData(d);
state.SetItemsProcessed(state.iterations());
}