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Delete sparsity structures from mjData, use the ones in mjModel

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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
This commit is contained in:
Yuval Tassa
2025-08-14 09:11:47 -07:00
committed by Copybara-Service
parent 7eb13777f8
commit 977f94e9df
25 changed files with 120 additions and 349 deletions
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test/benchmark/inertia_benchmark_test.cc
+3 -3
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@@ -48,7 +48,7 @@ static void BM_solve(benchmark::State& state, SolveType type) {
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
mju_gather(M, d->qM, d->mapM2M, m->nC);
mju_gather(M, d->qM, m->mapM2M, m->nC);
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
@@ -73,9 +73,9 @@ static void BM_solve(benchmark::State& state, SolveType type) {
case SolveType::kCsr:
mju_copy(d->qLD, M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv,
d->M_rownnz, d->M_rowadr, d->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind);
mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->M_rownnz, d->M_rowadr, d->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind);
}
}
}