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Precount number of non-zeros for constraint Jacobian sparse matrix.

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PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
This commit is contained in:
Kyle Bayes
2023-02-28 08:57:01 -08:00
committed by Copybara-Service
parent 90b5dd14ca
commit 50bebcb4ee
15 changed files with 521 additions and 165 deletions
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include/mujoco/mjdata.h
+28 -27
View File
@@ -153,6 +153,7 @@ struct mjData_ {
int ne; // number of equality constraints
int nf; // number of friction constraints
int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian
int ncon; // number of detected contacts
// global properties
@@ -309,39 +310,39 @@ struct mjData_ {
//-------------------------------- ARENA-ALLOCATED ARRAYS
// computed by mj_collision
mjContact* contact; // list of all detected contacts (ncon x 1)
mjContact* contact; // list of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in Jacobian (nefc x nv)
int* efc_JT_rownnz; // number of non-zeros in Jacobian row T (nv x 1)
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
int* efc_JT_colind; // column indices in Jacobian T (nv x nefc)
mjtNum* efc_J; // constraint Jacobian (nefc x nv)
mjtNum* efc_JT; // constraint Jacobian transposed (nv x nefc)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nnzJ x 1)
int* efc_JT_rownnz; // number of non-zeros in constraint Jacobian row T (nv x 1)
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
int* efc_JT_colind; // column indices in constraint Jacobian T (nnzJ x 1)
mjtNum* efc_J; // constraint Jacobian (nnzJ x 1)
mjtNum* efc_JT; // constraint Jacobian transposed (nnzJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
// computed by mj_projectConstraint
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
};
typedef struct mjData_ mjData;
include/mujoco/mjxmacro.h
+25 -25
View File
@@ -536,31 +536,31 @@
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_PRIMAL \
X( int, efc_type, MJ_D(nefc), 1 ) \
X( int, efc_id, MJ_D(nefc), 1 ) \
X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
X( int, efc_J_colind, MJ_D(nefc), MJ_M(nv) ) \
X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
X( int, efc_JT_colind, MJ_M(nv), MJ_D(nefc) ) \
X( mjtNum, efc_J, MJ_D(nefc), MJ_M(nv) ) \
X( mjtNum, efc_JT, MJ_M(nv), MJ_D(nefc) ) \
X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
X( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
X( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
X( mjtNum, efc_b, MJ_D(nefc), 1 ) \
X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
X( int, efc_state, MJ_D(nefc), 1 ) \
#define MJDATA_ARENA_POINTERS_PRIMAL \
X(int, efc_type, MJ_D(nefc), 1) \
X(int, efc_id, MJ_D(nefc), 1) \
X(int, efc_J_rownnz, MJ_D(nefc), 1) \
X(int, efc_J_rowadr, MJ_D(nefc), 1) \
X(int, efc_J_rowsuper, MJ_D(nefc), 1) \
X(int, efc_J_colind, MJ_D(nnzJ), 1) \
X(int, efc_JT_rownnz, MJ_M(nv), 1) \
X(int, efc_JT_rowadr, MJ_M(nv), 1) \
X(int, efc_JT_rowsuper, MJ_M(nv), 1) \
X(int, efc_JT_colind, MJ_D(nnzJ), 1) \
X(mjtNum, efc_J, MJ_D(nnzJ), 1) \
X(mjtNum, efc_JT, MJ_D(nnzJ), 1) \
X(mjtNum, efc_pos, MJ_D(nefc), 1) \
X(mjtNum, efc_margin, MJ_D(nefc), 1) \
X(mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
X(mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
X(mjtNum, efc_KBIP, MJ_D(nefc), 4) \
X(mjtNum, efc_D, MJ_D(nefc), 1) \
X(mjtNum, efc_R, MJ_D(nefc), 1) \
X(mjtNum, efc_vel, MJ_D(nefc), 1) \
X(mjtNum, efc_aref, MJ_D(nefc), 1) \
X(mjtNum, efc_b, MJ_D(nefc), 1) \
X(mjtNum, efc_force, MJ_D(nefc), 1) \
X(int, efc_state, MJ_D(nefc), 1)
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \