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Expose mj_printSparsity in engine_print.h.

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This is useful for debugging sparse operations.

PiperOrigin-RevId: 711765082
Change-Id: I532a5218da0f921dd4b04730d0b12c5136e7ca65
This commit is contained in:
Yuval Tassa
2025-01-03 08:50:48 -08:00
committed by Copybara-Service
parent 923f75fd23
commit 63e2836f63
2 changed files with 25 additions and 18 deletions
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src/engine/engine_print.c
+19 -18
View File
@@ -114,8 +114,8 @@ static void printSparse(const char* str, const mjtNum* mat, int nr,
// print sparse matrix structure // print sparse matrix structure
static void printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag, void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,
const int* rownnz, const int* rowsuper, const int* colind, FILE* fp) { const int* rownnz, const int* rowsuper, const int* colind, FILE* fp) {
// if no rows / columns, or too many columns to be visually useful, return // if no rows / columns, or too many columns to be visually useful, return
if (!nr || !nc || nc > 300) { if (!nr || !nc || nc > 300) {
return; return;
@@ -1060,8 +1060,9 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
if (!mj_isSparse(m)) { if (!mj_isSparse(m)) {
printArray("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format); printArray("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format);
} else { } else {
printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv, mj_printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
d->flexedge_J_rowadr, NULL, d->flexedge_J_rownnz, NULL, d->flexedge_J_colind, fp); d->flexedge_J_rowadr, NULL, d->flexedge_J_rownnz, NULL, d->flexedge_J_colind,
fp);
printArrayInt("FLEXEDGE_J_ROWNNZ", m->nflexedge, 1, d->flexedge_J_rownnz, 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); printArrayInt("FLEXEDGE_J_ROWADR", m->nflexedge, 1, d->flexedge_J_rowadr, fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, d->flexedge_J_rownnz, printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, d->flexedge_J_rownnz,
@@ -1073,8 +1074,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
if (!mj_isSparse(m)) { if (!mj_isSparse(m)) {
printArray("TEN_MOMENT", m->ntendon, m->nv, d->ten_J, fp, float_format); printArray("TEN_MOMENT", m->ntendon, m->nv, d->ten_J, fp, float_format);
} else { } else {
printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, d->ten_J_rowadr, NULL, mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, d->ten_J_rowadr, NULL,
d->ten_J_rownnz, NULL, d->ten_J_colind, fp); d->ten_J_rownnz, NULL, d->ten_J_colind, fp);
printArrayInt("TEN_J_ROWNNZ", m->ntendon, 1, d->ten_J_rownnz, 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); printArrayInt("TEN_J_ROWADR", m->ntendon, 1, d->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz, printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz,
@@ -1090,8 +1091,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
} }
printArray("ACTUATOR_LENGTH", m->nu, 1, d->actuator_length, fp, float_format); printArray("ACTUATOR_LENGTH", m->nu, 1, d->actuator_length, fp, float_format);
printSparsity("actuator_moment", m->nu, m->nv, mj_printSparsity("actuator_moment", m->nu, m->nv,
d->moment_rowadr, NULL, d->moment_rownnz, NULL, d->moment_colind, fp); d->moment_rowadr, NULL, d->moment_rownnz, NULL, d->moment_colind, fp);
printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nu, d->moment_rownnz, printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nu, d->moment_rownnz,
d->moment_rowadr, d->moment_colind, fp, float_format); d->moment_rowadr, d->moment_colind, fp, float_format);
printArray("CRB", m->nbody, 10, d->crb, fp, float_format); printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
@@ -1109,8 +1110,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format); printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
// B sparse structure // B sparse structure
printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, NULL, d->B_rownnz, NULL, mj_printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, NULL, d->B_rownnz, NULL,
d->B_colind, fp); d->B_colind, fp);
// B_rownnz // B_rownnz
fprintf(fp, NAME_FORMAT, "B_rownnz"); fprintf(fp, NAME_FORMAT, "B_rownnz");
@@ -1134,8 +1135,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "\n\n"); fprintf(fp, "\n\n");
// C sparse structure // C sparse structure
printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, d->C_diag, d->C_rownnz, mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, d->C_diag, d->C_rownnz,
NULL, d->C_colind, fp); NULL, d->C_colind, fp);
fprintf(fp, NAME_FORMAT, "C_rownnz"); fprintf(fp, NAME_FORMAT, "C_rownnz");
for (int i = 0; i < m->nv; i++) { for (int i = 0; i < m->nv; i++) {
@@ -1165,8 +1166,8 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "\n\n"); fprintf(fp, "\n\n");
// D sparse structure // D sparse structure
printSparsity("D: dof-dof matrix", m->nv, m->nv, mj_printSparsity("D: dof-dof matrix", m->nv, m->nv,
d->D_rowadr, d->D_diag, d->D_rownnz, NULL, d->D_colind, fp); d->D_rowadr, d->D_diag, d->D_rownnz, NULL, d->D_colind, fp);
// D_rownnz // D_rownnz
fprintf(fp, NAME_FORMAT, "D_rownnz"); fprintf(fp, NAME_FORMAT, "D_rownnz");
@@ -1263,14 +1264,14 @@ 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_J", d->nefc, m->nv, d->efc_J, fp, float_format);
printArray("EFC_AR", d->nefc, d->nefc, d->efc_AR, fp, float_format); printArray("EFC_AR", d->nefc, d->nefc, d->efc_AR, fp, float_format);
} else { } else {
printSparsity("J: constraint Jacobian", d->nefc, m->nv, mj_printSparsity("J: constraint Jacobian", d->nefc, m->nv, d->efc_J_rowadr, NULL,
d->efc_J_rowadr, NULL, d->efc_J_rownnz, d->efc_J_rowsuper, d->efc_J_colind, fp); d->efc_J_rownnz, d->efc_J_rowsuper, d->efc_J_colind, fp);
printArrayInt("EFC_J_ROWNNZ", d->nefc, 1, d->efc_J_rownnz, 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); printArrayInt("EFC_J_ROWADR", d->nefc, 1, d->efc_J_rowadr, fp);
printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz, printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
d->efc_J_rowadr, d->efc_J_colind, fp, float_format); d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
printSparsity("JT: constraint Jacobian transposed", m->nv, d->nefc, d->efc_JT_rowadr, NULL, mj_printSparsity("JT: constraint Jacobian transposed", m->nv, d->nefc, d->efc_JT_rowadr, NULL,
d->efc_JT_rownnz, d->efc_JT_rowsuper, d->efc_JT_colind, fp); d->efc_JT_rownnz, d->efc_JT_rowsuper, d->efc_JT_colind, fp);
printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp); printArrayInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
printArrayInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, 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, printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
src/engine/engine_print.h
+6
View File
@@ -15,6 +15,8 @@
#ifndef MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_ #ifndef MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
#define MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_ #define MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
#include <stdio.h>
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
@@ -40,6 +42,10 @@ MJAPI void mj_printFormattedData(const mjModel* m, mjData* d, const char* filena
// print data to text file // print data to text file
MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename); MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename);
// print sparse matrix structure
MJAPI void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,
const int* rownnz, const int* rowsuper, const int* colind, FILE* fp);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif