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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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test/benchmark/inertia_benchmark_test.cc
+1 -1
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@@ -72,7 +72,7 @@ static void BM_solve(benchmark::State& state, SolveType type) {
mj_factorIs(LDs, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mju_copy(res, vec, m->nv);
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv,
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
test/benchmark/solveLD_benchmark_test.cc
+1 -1
View File
@@ -63,7 +63,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
mj_solveM(m, d, res, vec, 1);
} else {
mju_copy(res, vec, m->nv);
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv,
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}