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Remove unused parameters from mju_sqrMatTDSparseInit.

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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
This commit is contained in:
Kyle Bayes
2023-08-15 06:29:36 -07:00
committed by Copybara-Service
parent 3f6c694e75
commit 8ea690ed70
4 changed files with 30 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.c
+2 -3
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@@ -1845,9 +1845,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind); mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind);
// AR = JM2 * JM2' // AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, JM2T, JM2, mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nv, nefc, rownnzT,
nv, nefc, rownnzT, rowadrT, colindT, rownnz, rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d);
rowadr, colind, rowsuper, d);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc, mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind, d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,
src/engine/engine_util_sparse.c
-1
View File
@@ -413,7 +413,6 @@ void mju_superSparse(int nr, int* rowsuper,
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse // precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz, int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* rownnzT, const int* rowadrT,
src/engine/engine_util_sparse.h
-1
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@@ -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 // precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz, int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* rownnzT, const int* rowadrT,
test/engine/engine_util_sparse_test.cc
+28 -28
View File
@@ -207,8 +207,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
int rowadrH[] = {0, 0, 0}; int rowadrH[] = {0, 0, 0};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -252,8 +252,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
int rowadrH[] = {0, 0, 0}; int rowadrH[] = {0, 0, 0};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -300,8 +300,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
mjtNum diag[] = {2, 3, 4}; mjtNum diag[] = {2, 3, 4};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0)); EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4));
@@ -348,8 +348,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2)); EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2));
@@ -394,8 +394,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2)); EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
@@ -439,8 +439,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
int rowadrH[] = {0, 0, 0}; int rowadrH[] = {0, 0, 0};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2)); EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3)); EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3));
@@ -486,8 +486,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
mjtNum diag[] = {2, 3, 4}; mjtNum diag[] = {2, 3, 4};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 2, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 2, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2)); EXPECT_THAT(rownnzH, ElementsAre(2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2)); EXPECT_THAT(rowadrH, ElementsAre(0, 2));
@@ -532,8 +532,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
mjtNum diag[] = {2, 3}; mjtNum diag[] = {2, 3};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 2, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 2, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2)); EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
@@ -579,8 +579,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
mjtNum diag[] = {2, 3, 4}; mjtNum diag[] = {2, 3, 4};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, NULL, data); rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -627,8 +627,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
mjtNum diag[] = {1, 1, 1}; mjtNum diag[] = {1, 1, 1};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, rowsuperT, data); rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -675,8 +675,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
mjtNum diag[] = {1, 1, 1}; mjtNum diag[] = {1, 1, 1};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 3, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, rowsuperT, data); rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3)); EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6)); EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
@@ -723,8 +723,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
mjtNum diag[] = {1, 1, 1}; mjtNum diag[] = {1, 1, 1};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 4, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 4, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, rowsuperT, data); rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4)); EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4));
EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12)); EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12));
@@ -775,8 +775,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
mjtNum diag[] = {1, 1, 1}; mjtNum diag[] = {1, 1, 1};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 5, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 3, 5, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, rowsuperT, data); rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0)); EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4, 4, 4)); 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}; int rowadrH[] = {0, 0, 0, 0, 0, 0, 0};
// test precount // test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 1, 7, rownnz, rowadr, mju_sqrMatTDSparseInit(rownnzH, rowadrH, 1, 7, rownnz, rowadr, colind,
colind, rownnzT, rowadrT, colindT, rowsuperT, data); rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7)); EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42)); EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));