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Add private functions mju_blockDiag and mju_blockDiagSparse

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PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
This commit is contained in:
Yuval Tassa
2025-04-29 11:29:41 -07:00
committed by Copybara-Service
parent d657e628f0
commit 8078a45727
3 changed files with 337 additions and 0 deletions
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src/engine/engine_util_sparse.h
+15
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@@ -103,6 +103,21 @@ MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
// block-diagonalize a dense matrix
MJAPI void mju_blockDiag(mjtNum* res, const mjtNum* mat,
int nc_mat, int nc_res, int nb,
const int* perm_r, const int* perm_c,
const int* block_nr, const int* block_nc,
const int* blockadr_r, const int* blockadr_c);
// block-diagonalize a sparse matrix
MJAPI void mju_blockDiagSparse(
mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,
const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
int nr, int nb,
const int* perm_r, const int* perm_c,
const int* block_r, const int* block_c,
mjtNum* res2, const mjtNum* mat2);
// ------------------------------ inlined functions ------------------------------------------------