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Print ASCII sparse matrix structures in mj_printData.

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Also: don't print sparse matrices if they have more than 300 rows.
PiperOrigin-RevId: 684843230
Change-Id: If91d0b56cbbb6565904c3ee55857999e21b0cc62
This commit is contained in:
Yuval Tassa
2024-10-11 08:16:05 -07:00
committed by Copybara-Service
parent 70d6655434
commit 5fe2b88726
1 changed files with 56 additions and 2 deletions
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src/engine/engine_print.c
+56 -2
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@@ -92,7 +92,8 @@ static void printArrayInt(const char* str, int nr, int nc, const int* data, FILE
static void printSparse(const char* str, const mjtNum* mat, int nr,
const int* rownnz, const int* rowadr,
const int* colind, FILE* fp, const char* float_format) {
if (!mat) {
// if no data, or too many rows to be visually useful, return
if (!mat || nr > 300) {
return;
}
fprintf(fp, "%s\n", str);
@@ -111,6 +112,38 @@ static void printSparse(const char* str, const mjtNum* mat, int nr,
// print sparse matrix structure
static void printSparsity(const char* str, int nr, int nc,
const int* rowadr, const int* rownnz, const int* colind, FILE* fp) {
// if no rows / columns, or too many columns to be visually useful, return
if (!nr || !nc || nc > 300) {
return;
}
fprintf(fp, "%s\n", str);
for (int c=0; c < nc+2; c++) fprintf(fp, "-");
fprintf(fp, "\n ");
for (int r=0; r < nr; r++) {
int adr = rowadr[r];
int nnz = 0;
for (int c=0; c < nc; c++) {
if (nnz < rownnz[r] && colind[adr + nnz] == c) {
fprintf(fp, "x");
nnz++;
} else {
fprintf(fp, " ");
}
}
fprintf(fp, " |\n");
if (r < nr-1) fprintf(fp, " ");
}
for (int c=0; c < nc+2; c++) fprintf(fp, "-");
fprintf(fp, "\n\n");
}
// print vector
static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
const char* float_format) {
@@ -942,6 +975,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
if (!mj_isSparse(m)) {
printArray("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format);
} else {
printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
d->flexedge_J_rowadr, d->flexedge_J_rownnz, d->flexedge_J_colind, fp);
printArrayInt("FLEXEDGE_J_ROWNNZ", m->nflexedge, 1, d->flexedge_J_rownnz, fp);
printArrayInt("FLEXEDGE_J_ROWADR", m->nflexedge, 1, d->flexedge_J_rowadr, fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, d->flexedge_J_rownnz,
@@ -953,6 +988,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
if (!mj_isSparse(m)) {
printArray("TEN_MOMENT", m->ntendon, m->nv, d->ten_J, fp, float_format);
} else {
printSparsity("TEN_J: tendon moments", m->ntendon, m->nv,
d->ten_J_rowadr, d->ten_J_rownnz, d->ten_J_colind, fp);
printArrayInt("TEN_J_ROWNNZ", m->ntendon, 1, d->ten_J_rownnz, fp);
printArrayInt("TEN_J_ROWADR", m->ntendon, 1, d->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz,
@@ -984,6 +1021,9 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
printArray("QLDIAGSQRTINV", m->nv, 1, d->qLDiagSqrtInv, fp, float_format);
// B sparse structure
printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, d->B_rownnz, d->B_colind, fp);
// B_rownnz
fprintf(fp, NAME_FORMAT, "B_rownnz");
for (int i = 0; i < m->nbody; i++) {
@@ -1005,7 +1045,9 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
fprintf(fp, "\n\n");
// C_rownnz
// C sparse structure
printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, d->C_rownnz, d->C_colind, fp);
fprintf(fp, NAME_FORMAT, "C_rownnz");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->C_rownnz[i]);
@@ -1033,6 +1075,9 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
fprintf(fp, "\n\n");
// D sparse structure
printSparsity("D: dof-dof matrix", m->nv, m->nv, d->D_rowadr, d->D_rownnz, d->D_colind, fp);
// D_rownnz
fprintf(fp, NAME_FORMAT, "D_rownnz");
for (int i = 0; i < m->nv; i++) {
@@ -1128,11 +1173,20 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("EFC_J", d->nefc, m->nv, d->efc_J, fp, float_format);
printArray("EFC_AR", d->nefc, d->nefc, d->efc_AR, fp, float_format);
} else {
printSparsity("J: constraint Jacobian", d->nefc, m->nv,
d->efc_J_rowadr, d->efc_J_rownnz, d->efc_J_colind, fp);
printArrayInt("EFC_J_ROWNNZ", d->nefc, 1, d->efc_J_rownnz, fp);
printArrayInt("EFC_J_ROWADR", d->nefc, 1, d->efc_J_rowadr, fp);
printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
if (d->nnzL) {
// L sparse structure
printSparsity("L: Newton reverse Cholesky factor", m->nv, m->nv,
d->L_rowadr, d->L_rownnz, d->L_colind, fp);
printSparse("L", d->L, m->nv, d->L_rownnz, d->L_rowadr, d->L_colind, fp, float_format);
}
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,