From 8ea690ed70199f5b0bd97f4400eab8461c64fb9b Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Tue, 15 Aug 2023 06:29:36 -0700 Subject: [PATCH] Remove unused parameters from mju_sqrMatTDSparseInit. PiperOrigin-RevId: 557114227 Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85 --- src/engine/engine_core_constraint.c | 5 +-- src/engine/engine_util_sparse.c | 1 - src/engine/engine_util_sparse.h | 1 - test/engine/engine_util_sparse_test.cc | 56 +++++++++++++------------- 4 files changed, 30 insertions(+), 33 deletions(-) diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c index 66b08f06..b1359b33 100644 --- a/src/engine/engine_core_constraint.c +++ b/src/engine/engine_core_constraint.c @@ -1845,9 +1845,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) { mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind); // AR = JM2 * JM2' - mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, JM2T, JM2, - nv, nefc, rownnzT, rowadrT, colindT, rownnz, - rowadr, colind, rowsuper, d); + mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nv, nefc, rownnzT, + rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d); mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc, d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind, diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c index 957b3ac8..6f9cc8f0 100644 --- a/src/engine/engine_util_sparse.c +++ b/src/engine/engine_util_sparse.c @@ -413,7 +413,6 @@ void mju_superSparse(int nr, int* rowsuper, // precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, - const mjtNum* mat, const mjtNum* matT, int nr, int nc, const int* rownnz, const int* rowadr, const int* colind, const int* rownnzT, const int* rowadrT, diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h index 9bc43c19..698bbbe9 100644 --- a/src/engine/engine_util_sparse.h +++ b/src/engine/engine_util_sparse.h @@ -82,7 +82,6 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT // precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, - const mjtNum* mat, const mjtNum* matT, int nr, int nc, const int* rownnz, const int* rowadr, const int* colind, const int* rownnzT, const int* rowadrT, diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc index 0f9594b8..0bbde8a3 100644 --- a/test/engine/engine_util_sparse_test.cc +++ b/test/engine/engine_util_sparse_test.cc @@ -207,8 +207,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) { int rowadrH[] = {0, 0, 0}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); @@ -252,8 +252,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) { int rowadrH[] = {0, 0, 0}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); @@ -300,8 +300,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) { mjtNum diag[] = {2, 3, 4}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4)); @@ -348,8 +348,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) { // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2)); @@ -394,8 +394,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) { // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5)); @@ -439,8 +439,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) { int rowadrH[] = {0, 0, 0}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3)); @@ -486,8 +486,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) { mjtNum diag[] = {2, 3, 4}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 2, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 2, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(2, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 2)); @@ -532,8 +532,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) { mjtNum diag[] = {2, 3}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 2, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 2, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5)); @@ -579,8 +579,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) { mjtNum diag[] = {2, 3, 4}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, NULL, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, NULL, data); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); @@ -627,8 +627,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) { mjtNum diag[] = {1, 1, 1}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, rowsuperT, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, rowsuperT, data); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); @@ -675,8 +675,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) { mjtNum diag[] = {1, 1, 1}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, rowsuperT, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, rowsuperT, data); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); @@ -723,8 +723,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) { mjtNum diag[] = {1, 1, 1}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 4, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, rowsuperT, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 4, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, rowsuperT, data); EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4)); EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12)); @@ -775,8 +775,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) { mjtNum diag[] = {1, 1, 1}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 5, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, rowsuperT, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 5, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, rowsuperT, data); EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4, 4, 4)); @@ -825,8 +825,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) { int rowadrH[] = {0, 0, 0, 0, 0, 0, 0}; // test precount - mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 1, 7, rownnz, rowadr, - colind, rownnzT, rowadrT, colindT, rowsuperT, data); + mju_sqrMatTDSparseInit(rownnzH, rowadrH, 1, 7, rownnz, rowadr, colind, + rownnzT, rowadrT, colindT, rowsuperT, data); EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7)); EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));