Remove legacy factorI/solveLD and clean up benchmarks/tests
Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers. Updates factorI, solveLD, and inertia benchmarks to remove legacy targets and only benchmark CSR. Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM instead of legacy solver. PiperOrigin-RevId: 942507341 Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
parent
10d6c01dce
commit
7c6f519879
@@ -1876,69 +1876,6 @@ void mj_makeM(const mjModel* m, mjData* d) {
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}
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// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
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// (legacy implementation)
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void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
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mjtNum* qLDiagInv) {
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int cnt;
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int Madr_kk, Madr_ki;
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mjtNum tmp;
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// local copies of key variables
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int* dof_Madr = m->dof_Madr;
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int* dof_parentid = m->dof_parentid;
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int nv = m->nv;
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// copy M into LD
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mju_copy(qLD, M, m->nM);
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// dense backward loop over dofs (regular only, simple diagonal already copied)
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for (int k=nv-1; k >= 0; k--) {
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// get address of M(k,k)
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Madr_kk = dof_Madr[k];
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// check for small/negative numbers on diagonal
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if (qLD[Madr_kk] < mjMINVAL) {
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mj_warning(d, mjWARN_INERTIA, k);
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qLD[Madr_kk] = mjMINVAL;
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}
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// skip the rest if simple
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if (m->dof_simplenum[k]) {
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continue;
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}
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// sparse backward loop over ancestors of k (excluding k)
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Madr_ki = Madr_kk + 1;
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int i = dof_parentid[k];
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while (i >= 0) {
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tmp = qLD[Madr_ki] / qLD[Madr_kk]; // tmp = M(k,i) / M(k,k)
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// get number of ancestors of i (including i)
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if (i < nv-1) {
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cnt = dof_Madr[i+1] - dof_Madr[i];
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} else {
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cnt = m->nM - dof_Madr[i+1];
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}
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// M(i,j) -= M(k,j) * tmp
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mju_addToScl(qLD+dof_Madr[i], qLD+Madr_ki, -tmp, cnt);
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qLD[Madr_ki] = tmp; // M(k,i) = tmp
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// advance to i's parent
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i = dof_parentid[i];
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Madr_ki++;
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}
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}
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// compute 1/diag(D)
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for (int i=0; i < nv; i++) {
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qLDiagInv[i] = 1.0 / qLD[dof_Madr[i]];
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}
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}
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// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
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void mj_factorM(const mjModel* m, mjData* d) {
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TM_START;
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@@ -1997,118 +1934,6 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
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}
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// in-place sparse backsubstitution: x = inv(L'*D*L)*x
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// (legacy implementation)
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void mj_solveLD_legacy(const mjModel* m, mjtNum* restrict x, int n,
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const mjtNum* qLD, const mjtNum* qLDiagInv) {
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// local copies of key variables
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int* dof_Madr = m->dof_Madr;
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int* dof_parentid = m->dof_parentid;
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int nv = m->nv;
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// single vector
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if (n == 1) {
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// x <- inv(L') * x; skip simple, exploit sparsity of input vector
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for (int i=nv-1; i >= 0; i--) {
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if (!m->dof_simplenum[i] && x[i]) {
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// init
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int Madr_ij = dof_Madr[i]+1;
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int j = dof_parentid[i];
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// traverse ancestors backwards
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// read directly from x[i] since i cannot be a parent of itself
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while (j >= 0) {
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x[j] -= qLD[Madr_ij++]*x[i]; // x(j) -= L(i,j) * x(i)
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// advance to parent
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j = dof_parentid[j];
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}
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}
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}
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// x <- inv(D) * x
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for (int i=0; i < nv; i++) {
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x[i] *= qLDiagInv[i]; // x(i) /= L(i,i)
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}
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// x <- inv(L) * x; skip simple
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for (int i=0; i < nv; i++) {
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if (!m->dof_simplenum[i]) {
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// init
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int Madr_ij = dof_Madr[i]+1;
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int j = dof_parentid[i];
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// traverse ancestors backwards
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// write directly in x[i] since i cannot be a parent of itself
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while (j >= 0) {
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x[i] -= qLD[Madr_ij++]*x[j]; // x(i) -= L(i,j) * x(j)
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// advance to parent
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j = dof_parentid[j];
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}
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}
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}
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}
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// multiple vectors
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else {
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int offset;
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mjtNum tmp;
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// x <- inv(L') * x; skip simple
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for (int i=nv-1; i >= 0; i--) {
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if (!m->dof_simplenum[i]) {
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// init
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int Madr_ij = dof_Madr[i]+1;
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int j = dof_parentid[i];
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// traverse ancestors backwards
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while (j >= 0) {
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// process all vectors, exploit sparsity
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for (offset=0; offset < n*nv; offset+=nv)
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if ((tmp = x[i+offset])) {
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x[j+offset] -= qLD[Madr_ij]*tmp; // x(j) -= L(i,j) * x(i)
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}
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// advance to parent
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Madr_ij++;
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j = dof_parentid[j];
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}
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}
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}
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// x <- inv(D) * x
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for (int i=0; i < nv; i++) {
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for (offset=0; offset < n*nv; offset+=nv) {
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x[i+offset] *= qLDiagInv[i]; // x(i) /= L(i,i)
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}
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}
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// x <- inv(L) * x; skip simple
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for (int i=0; i < nv; i++) {
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if (!m->dof_simplenum[i]) {
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// init
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int Madr_ij = dof_Madr[i]+1;
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int j = dof_parentid[i];
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// traverse ancestors backwards
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tmp = x[i+offset];
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while (j >= 0) {
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// process all vectors
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for (offset=0; offset < n*nv; offset+=nv) {
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x[i+offset] -= qLD[Madr_ij]*x[j+offset]; // x(i) -= L(i,j) * x(j)
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}
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// advance to parent
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Madr_ij++;
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j = dof_parentid[j];
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}
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}
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}
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}
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}
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// in-place sparse backsubstitution: x = inv(L'*D*L)*x (with dof skipping)
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void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
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const int* rownnz, const int* rowadr, const int* colind, const int* index) {
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@@ -64,10 +64,6 @@ MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
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// make inertia matrix
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MJAPI void mj_makeM(const mjModel* m, mjData* d);
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// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation)
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MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
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mjtNum* qLD, mjtNum* qLDiagInv);
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// sparse L'*D*L factorizaton of inertia-like matrix (only dofs in index, if given)
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MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
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const int* rownnz, const int* rowadr, const int* colind, const int* index);
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@@ -75,10 +71,6 @@ MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
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// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
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MJAPI void mj_factorM(const mjModel* m, mjData* d);
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// sparse backsubstitution: x = inv(L'*D*L)*x (legacy implementation)
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MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
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const mjtNum* qLD, const mjtNum* qLDiagInv);
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// in-place sparse backsubstitution (only dofs in index, if given): x = inv(L'*D*L)*x
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// handle n vectors at once
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MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
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