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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
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test/engine/engine_core_smooth_test.cc
+26 -28
View File
@@ -649,7 +649,7 @@ TEST_F(CoreSmoothTest, FactorI) {
int nv = model->nv;
vector<mjtNum> Ldense(nv*nv, 0);
mju_sparse2dense(Ldense.data(), data->qLD, nv, nv,
data->M_rownnz, data->M_rowadr, data->M_colind);
data->C_rownnz, data->C_rowadr, data->C_colind);
for (int i=0; i < nv; i++) {
// set diagonal to 1
Ldense[i*nv+i] = 1;
@@ -658,7 +658,7 @@ TEST_F(CoreSmoothTest, FactorI) {
// dense D matrix
vector<mjtNum> Ddense(nv*nv);
mju_sparse2dense(Ddense.data(), data->qLD, nv, nv,
data->M_rownnz, data->M_rowadr, data->M_colind);
data->C_rownnz, data->C_rowadr, data->C_colind);
for (int i=0; i < nv; i++) {
for (int j=0; j < nv; j++) {
// zero everything except the diagonal
@@ -694,15 +694,16 @@ TEST_F(CoreSmoothTest, SolveLDs) {
int nv = m->nv;
int nM = m->nM;
int nC = m->nC;
// scatter M into LD: Legacy format
vector<mjtNum> LDlegacy(nM);
mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
// copy M into LD: Legacy format
vector<mjtNum> LDlegacy(nM, 0);
mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, nC);
// compare LD and LDs densified matrices
vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), d->qLD, nv, nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
d->C_rownnz, d->C_rowadr, d->C_colind);
vector<mjtNum> LDdense2(nv*nv);
mj_fullM(m, LDdense2.data(), LDlegacy.data());
@@ -721,7 +722,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect vectors to match up to floating point precision
for (int i=0; i < nv; i++) {
@@ -742,11 +743,10 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_forward(m, d);
int nv = m->nv;
int nM = m->nM;
// scatter LD into LDlegacy: Legacy format
vector<mjtNum> LDlegacy(nM);
mju_scatter(LDlegacy.data(), d->qLD, d->mapM2M, nM);
// copy LD into LDlegacy: Legacy format
vector<mjtNum> LDlegacy(m->nM, 0);
mju_scatter(LDlegacy.data(), d->qLD, d->mapM2C, m->nC);
// compare n LD and LDs vector solve
int n = 3;
@@ -757,7 +757,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect vectors to match up to floating point precision
for (int i=0; i < nv*n; i++) {
@@ -781,7 +781,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
int nv = m->nv;
vector<mjtNum> sqrtInvD(nv);
for (int i=0; i < nv; i++) {
int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
@@ -795,7 +795,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
for (int i=0; i < n; i++) {
@@ -816,27 +816,25 @@ TEST_F(CoreSmoothTest, FactorIs) {
mjData* d = mj_makeData(m);
mj_forward(m, d);
int nM = m->nM, nv = m->nv;
int nC = m->nC, nM = m->nM, nv = m->nv;
// copy qM into into qLDlegacy and factorize
vector<mjtNum> qLDlegacy(nM);
mj_factorI_legacy(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv);
// copy qLDlegacy into qLDexpected: CSR format
vector<mjtNum> qLDexpected(nM);
for (int i=0; i < nM; i++) {
qLDexpected[i] = qLDlegacy[d->mapM2M[i]];
}
vector<mjtNum> qLDexpected(nC);
mju_gather(qLDexpected.data(), qLDlegacy.data(), d->mapM2C, nC);
// gather qM into qLD: CSR format
vector<mjtNum> qLD(nM);
mju_gather(qLD.data(), d->qM, d->mapM2M, nM);
// copy qM into qLD: CSR format
vector<mjtNum> qLD(nC);
mju_gather(qLD.data(), d->qM, d->mapM2C, nC);
vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
vector<mjtNum> qLDiagInv(nv, 0);
mj_factorI(qLD.data(), qLDiagInv.data(), nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect outputs to match to floating point precision
EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
@@ -846,12 +844,12 @@ TEST_F(CoreSmoothTest, FactorIs) {
vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), qLDexpected.data(), nv, nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
PrintMatrix(LDdense.data(), nv, nv, 2, "qLDexpected");
d->C_rownnz, d->C_rowadr, d->C_colind);
PrintMatrix(LDdense.data(), nv, nv, 2);
mju_sparse2dense(LDdense.data(), qLD.data(), nv, nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
PrintMatrix(LDdense.data(), nv, nv, 2, "qLD");
mju_sparse2dense(LDdense.data(), qLDs.data(), nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind);
PrintMatrix(LDdense.data(), nv, nv, 2);
*/
mj_deleteData(d);
test/engine/engine_derivative_test.cc
+2 -2
View File
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);