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Add mju_sym2dense, document future breakage of mj_fullM

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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
This commit is contained in:
Yuval Tassa
2026-05-04 14:25:23 -07:00
committed by Copybara-Service
parent a51a7bf062
commit 767c607f58
19 changed files with 191 additions and 12 deletions
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test/engine/engine_support_test.cc
+4 -3
View File
@@ -548,7 +548,8 @@ TEST_F(InertiaTest, mulM) {
// dense M matrix
vector<mjtNum> Mdense(nv*nv);
mj_fullM(model, Mdense.data(), data->qM);
mju_sym2dense(Mdense.data(), data->M, nv,
model->M_rownnz, model->M_rowadr, model->M_colind);
// arbitrary RHS vector
vector<mjtNum> vec(nv);
@@ -611,9 +612,9 @@ TEST_F(InertiaTest, FullM) {
mjData* d = mj_makeData(m);
mj_forward(m, d);
// get dense mass matrix from qM using mj_fullM
// get dense mass matrix from M using mju_sym2dense
vector<mjtNum> M(nv * nv);
mj_fullM(m, M.data(), d->qM);
mju_sym2dense(M.data(), d->M, nv, m->M_rownnz, m->M_rowadr, m->M_colind);
// get dense mass matrix from M using mju_sparse2dense
vector<mjtNum> M_CSR(nv * nv);
test/engine/engine_util_sparse_test.cc
+36
View File
@@ -361,6 +361,42 @@ TEST_F(EngineUtilSparseTest, MjuCompressSparse) {
EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected_minval1, 6));
}
TEST_F(EngineUtilSparseTest, MjuSym2Dense) {
// lower-triangular CSR for a 3x3 symmetric matrix:
// 1 2 0
// 2 3 4
// 0 4 5
// stored as lower triangle:
// row 0: [1] (col 0)
// row 1: [2, 3] (cols 0, 1)
// row 2: [4, 5] (cols 1, 2)
mjtNum mat[] = {1, 2, 3, 4, 5};
int rownnz[] = {1, 2, 2};
int rowadr[] = {0, 1, 3};
int colind[] = {0, 0, 1, 1, 2};
mjtNum dense[9];
mju_sym2dense(dense, mat, 3, rownnz, rowadr, colind);
mjtNum expected[] = {1, 2, 0, 2, 3, 4, 0, 4, 5};
EXPECT_EQ(AsVector(dense, 9), AsVector(expected, 9));
}
TEST_F(EngineUtilSparseTest, MjuSym2DenseWithUpper) {
mjtNum mat[] = {1, 999, 2, 3, 4, 5};
int rownnz[] = {2, 2, 2};
int rowadr[] = {0, 2, 4};
int colind[] = {0, 1, 0, 1, 1, 2};
mjtNum dense[9];
mju_sym2dense(dense, mat, 3, rownnz, rowadr, colind);
mjtNum expected[] = {1, 2, 0,
2, 3, 4,
0, 4, 5};
EXPECT_EQ(AsVector(dense, 9), AsVector(expected, 9));
}
// helper: run split-col approach and return dense result
static void SqrMatTDSplitCol(
std::vector<mjtNum>& dense_result, int nr, int nc,