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Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector.

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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
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test/engine/engine_util_sparse_test.cc
+23 -2
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@@ -30,8 +30,9 @@ namespace {
using ::testing::ElementsAre;
using EngineUtilSparseTest = MujocoTest;
std::vector<int> AsVector(const int* array, int n) {
return std::vector<int>(array, array + n);
template <typename T>
std::vector<T> AsVector(const T* array, int n) {
return std::vector<T>(array, array + n);
}
TEST_F(EngineUtilSparseTest, MjuDot) {
@@ -1043,5 +1044,25 @@ TEST_F(EngineUtilSparseTest, MjuCholFactorNNZ) {
mj_deleteModel(model);
}
TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
int nr = 2;
int nc = 3;
mjtNum mat[] = {1, 2, 0,
0, 3, 4};
mjtNum mat_sparse[6];
int rownnz[2];
int rowadr[2];
int colind[4];
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind);
// multiply: res = mat' * vec
mjtNum vec[] = {5, 6};
mjtNum res[3];
mju_mulMatTVecSparse(res, mat_sparse, vec, nr, nc, rownnz, rowadr, colind);
EXPECT_THAT(AsVector(res, 3), ElementsAre(5, 28, 24));
}
} // namespace
} // namespace mujoco