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Add mju_mulSymVecSparse, private engine function

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Multiply sparse symmetric matrix (only lower triangle represented) by vector

PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
This commit is contained in:
Yuval Tassa
2025-04-29 16:32:49 -07:00
committed by Copybara-Service
parent 1766a388cc
commit 7742f62803
3 changed files with 80 additions and 0 deletions
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src/engine/engine_util_sparse.h
+6
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@@ -50,6 +50,12 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
// multiply symmetric matrix (only lower triangle represented) by vector:
// res = (mat + strict_upper(mat')) * vec
MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
const int* rownnz, const int* rowadr, const int* diagnum,
const int* colind);
// compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
MJAPI int mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, mjtNum minval);