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Add function to merge chains of indices.

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PiperOrigin-RevId: 712863690
Change-Id: I15652bec03dc9ce90e230788bd12b44b1a2b8217
This commit is contained in:
Yuval Tassa
2025-01-07 04:41:09 -08:00
committed by Copybara-Service
parent 1c69e64e6e
commit 4d82ab5762
3 changed files with 83 additions and 11 deletions
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test/engine/engine_util_sparse_test.cc
+18
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@@ -1100,5 +1100,23 @@ TEST_F(EngineUtilSparseTest, MjuDenseToSparse) {
EXPECT_EQ(status0, 1);
}
TEST_F(EngineUtilSparseTest, MergeSorted) {
const int chain1_a[] = {1, 2, 3};
const int chain2_a[] = {};
int merged_a[3];
int n1 = 3;
int n2 = 0;
EXPECT_EQ(mj_mergeSorted(merged_a, chain1_a, n1, chain2_a, n2), 3);
EXPECT_THAT(merged_a, ElementsAre(1, 2, 3));
const int chain1_b[] = {1, 3, 5, 7, 8};
const int chain2_b[] = {2, 4, 5, 6, 8};
int merged_b[8];
n1 = 5;
n2 = 5;
EXPECT_EQ(mj_mergeSorted(merged_b, chain1_b, n1, chain2_b, n2), 8);
EXPECT_THAT(merged_b, ElementsAre(1, 2, 3, 4, 5, 6, 7, 8));
}
} // namespace
} // namespace mujoco