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

Delete sparsity structures from mjData, use the ones in mjModel

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/benchmark/solveLD_benchmark_test.cc
+2 -2
View File
@@ -54,7 +54,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
// scatter into legacy matrix
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_zero(LDlegacy, m->nM);
mju_scatter(LDlegacy, d->qLD, d->mapM2M, m->nC);
mju_scatter(LDlegacy, d->qLD, m->mapM2M, m->nC);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
} else {
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);
}
}
}