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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/mjxmacro.h
+25 -25
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@@ -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 \