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Standardize names of sparse fill-in pre-counting functions

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PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
This commit is contained in:
Yuval Tassa
2025-01-07 02:38:50 -08:00
committed by Copybara-Service
parent 0be7e6a1f6
commit 674d227050
5 changed files with 75 additions and 71 deletions
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src/engine/engine_core_constraint.c
+2 -2
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@@ -2175,8 +2175,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind);
// AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,
src/engine/engine_solver.c
+5 -5
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@@ -1400,10 +1400,10 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
}
// initialize Hessian rowadr, rownnz
mju_sqrMatTDSparseInit(ctx->H_rownnz, ctx->H_rowadr, nv,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
d, /*flg_upper=*/0);
mju_sqrMatTDSparseCount(ctx->H_rownnz, ctx->H_rowadr, nv,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
d->efc_JT_rowsuper, d, /*flg_upper=*/0);
// add nC to Hessian total nonzeros (unavoidable overcounting since H_colind is still unknown)
ctx->nH = m->nC + ctx->H_rowadr[nv - 1] + ctx->H_rownnz[nv - 1];
@@ -1440,7 +1440,7 @@ static void MakeHessian(const mjModel* m, mjData* d, mjCGContext* ctx) {
ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind);
// count total and row non-zeros of reverse-Cholesky factor L
ctx->nL = mju_cholFactorNNZ(ctx->L_rownnz, HT_rownnz, HT_rowadr, HT_colind, nv, d);
ctx->nL = mju_cholFactorCount(ctx->L_rownnz, HT_rownnz, HT_rowadr, HT_colind, nv, d);
mj_freeStack(d);
// compute L row adresses: rowadr = cumsum(rownnz)
src/engine/engine_util_sparse.c
+25 -21
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@@ -625,10 +625,10 @@ void mju_superSparse(int nr, int* rowsuper,
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper) {
void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper) {
mj_markStack(d);
int* chain = mjSTACKALLOC(d, 2*nr, int);
int nchain = 0;
@@ -865,11 +865,11 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
mj_freeStack(d);
}
// compute row non-zeros of reverse-Cholesky factor L, return total non-zeros
// based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
// note: reads pattern from upper triangle
int mju_cholFactorNNZ(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
int n, mjData* d) {
// precount row non-zeros of reverse-Cholesky factor L, return total non-zeros
// based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
// reads pattern from upper triangle
int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
int n, mjData* d) {
mj_markStack(d);
int* parent = mjSTACKALLOC(d, n, int);
int* flag = mjSTACKALLOC(d, n, int);
@@ -880,24 +880,28 @@ int mju_cholFactorNNZ(int* L_rownnz, const int* rownnz, const int* rowadr, const
flag[r] = r;
L_rownnz[r] = 1; // start with 1 for diagonal
// loop over non-zero columns
// loop over non-zero columns of upper triangle
int start = rowadr[r];
int end = start + rownnz[r];
for (int c = start; c < end; c++) {
int i = colind[c];
if (i > r) {
// traverse from i to ancestor, stop when row is flagged
while (flag[i] != r) {
// if not yet set, set parent to current row
if (parent[i] == -1) {
parent[i] = r;
}
// increment non-zeros, flag row i, advance to parent
L_rownnz[i]++;
flag[i] = r;
i = parent[i];
// skip lower triangle
if (i <= r) {
continue;
}
// traverse from i to ancestor, stop when row is flagged
while (flag[i] != r) {
// if not yet set, set parent to current row
if (parent[i] == -1) {
parent[i] = r;
}
// increment non-zeros, flag row i, advance to parent
L_rownnz[i]++;
flag[i] = r;
i = parent[i];
}
}
}
src/engine/engine_util_sparse.h
+7 -7
View File
@@ -99,17 +99,17 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
mjData* d, int flg_upper);
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper);
MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper);
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
// compute row non-zeros of reverse-Cholesky factor L, return total
MJAPI int mju_cholFactorNNZ(int* L_rownnz, const int* rownnz, const int* rowadr, const int* colind,
int n, mjData* d);
// precount row non-zeros of reverse-Cholesky factor L, return total
MJAPI int mju_cholFactorCount(int* L_rownnz, const int* rownnz, const int* rowadr,
const int* colind, int n, mjData* d);
// ------------------------------ inlined functions ------------------------------------------------