chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Standardize names of sparse fill-in pre-counting functions

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_util_sparse_test.cc
+36 -36
View File
@@ -326,8 +326,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -371,8 +371,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -419,8 +419,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4));
@@ -467,8 +467,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2));
@@ -513,8 +513,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
@@ -558,8 +558,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3));
@@ -605,8 +605,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 2, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 2, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2));
@@ -651,8 +651,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
mjtNum diag[] = {2, 3};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
@@ -698,8 +698,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, nullptr, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -746,8 +746,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -794,8 +794,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -842,8 +842,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 4, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 4, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4));
EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12));
@@ -894,8 +894,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 5, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 5, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4, 4, 4));
@@ -944,8 +944,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
int rowadrH[] = {0, 0, 0, 0, 0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, 7, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 7, rownnz, rowadr, colind,
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
@@ -985,8 +985,8 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
int colindA[4];
int rownnzA_factor[2];
mju_dense2sparse(sparseA, matA, nA, nA, rownnzA, rowadrA, colindA, 4);
int nnzA = mju_cholFactorNNZ(rownnzA_factor,
rownnzA, rowadrA, colindA, nA, d);
int nnzA = mju_cholFactorCount(rownnzA_factor,
rownnzA, rowadrA, colindA, nA, d);
EXPECT_EQ(nnzA, 2);
EXPECT_THAT(AsVector(rownnzA_factor, 2), ElementsAre(1, 1));
@@ -1001,8 +1001,8 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
int colindB[9];
int rownnzB_factor[3];
mju_dense2sparse(sparseB, matB, nB, nB, rownnzB, rowadrB, colindB, 9);
int nnzB = mju_cholFactorNNZ(rownnzB_factor,
rownnzB, rowadrB, colindB, nB, d);
int nnzB = mju_cholFactorCount(rownnzB_factor,
rownnzB, rowadrB, colindB, nB, d);
EXPECT_EQ(nnzB, 5);
EXPECT_THAT(AsVector(rownnzB_factor, 3), ElementsAre(1, 2, 2));
@@ -1017,8 +1017,8 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
int colindC[9];
int rownnzC_factor[3];
mju_dense2sparse(sparseC, matC, nC, nC, rownnzC, rowadrC, colindC, 9);
int nnzC = mju_cholFactorNNZ(rownnzC_factor,
rownnzC, rowadrC, colindC, nC, d);
int nnzC = mju_cholFactorCount(rownnzC_factor,
rownnzC, rowadrC, colindC, nC, d);
EXPECT_EQ(nnzC, 4);
EXPECT_THAT(AsVector(rownnzC_factor, 3), ElementsAre(1, 2, 1));
@@ -1034,8 +1034,8 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
int colindD[16];
int rownnzD_factor[4];
mju_dense2sparse(sparseD, matD, nD, nD, rownnzD, rowadrD, colindD, 16);
int nnzD = mju_cholFactorNNZ(rownnzD_factor,
rownnzD, rowadrD, colindD, nD, d);
int nnzD = mju_cholFactorCount(rownnzD_factor,
rownnzD, rowadrD, colindD, nD, d);
EXPECT_EQ(nnzD, 8);
EXPECT_THAT(AsVector(rownnzD_factor, 4), ElementsAre(1, 2, 2, 3));