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Allow CSR back-substitution to handle multiple vectors.

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PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
This commit is contained in:
Yuval Tassa
2025-01-08 03:30:41 -08:00
committed by Copybara-Service
parent 4d82ab5762
commit 8a5f092081
5 changed files with 116 additions and 29 deletions
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src/engine/engine_core_smooth.h
+2 -2
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@@ -64,8 +64,8 @@ MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, int n,
const mjtNum* qLD, const mjtNum* qLDiagInv);
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// like mj_solveLD, but using the CSR representation of L
MJAPI void mj_solveLDs(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, int nv,
// handle n vectors at once
MJAPI void mj_solveLDs(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d