chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector.

Browse Source 
PiperOrigin-RevId: 688535240
Change-Id: I0bacf1e911cde99014b2dcb0a1434e61a4f41d51
This commit is contained in:
Taylor Howell
2024-10-22 07:05:35 -07:00
committed by Copybara-Service
parent 2b0629d75f
commit 94e9912d28
3 changed files with 49 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.h
+4
View File
@@ -46,6 +46,10 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
int nr, const int* rownnz, const int* rowadr,
const int* colind, const int* rowsuper);
// multiply transposed sparse matrix and dense vector: res = mat' * vec
MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
// compress layout of sparse matrix
MJAPI void mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);