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Add nnz per row precount method for mju_sqrMatTDSparse.

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PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
This commit is contained in:
Kyle Bayes
2023-04-04 06:20:32 -07:00
committed by Copybara-Service
parent 7cc42ecf2a
commit 9924cce4b7
6 changed files with 267 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.c
+5 -5
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@@ -1801,16 +1801,16 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// construct supernodes
mju_superSparse(nefc, rowsuper, rownnz, rowadr, colind);
// AR = JM2 * JM2', uncompressed layout
// AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, JM2T, JM2,
nv, nefc, rownnzT, rowadrT, colindT, rownnz,
rowadr, colind, rowsuper, d);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,
rownnzT, rowadrT, colindT, NULL,
rownnz, rowadr, colind, rowsuper, d);
// compress layout of AR
mju_compressSparse(d->efc_AR, nefc, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind);
// add R to diagonal of AR
for (int i=0; i<nefc; i++) {
for (int j=0; j<d->efc_AR_rownnz[i]; j++) {
src/engine/engine_solver.c
+3 -1
View File
@@ -1362,7 +1362,9 @@ static void HessianDirect(const mjModel* m, mjData* d, mjCGContext* ctx) {
// sparse
if (mj_isSparse(m)) {
// compute H = J'*D*J, uncompressed layout
// compute H = J'*D*J
// TODO(b/266802572): remove uncompressed layout
mju_sqrMatTDUncompressedInit(ctx->rowadr, nv);
mju_sqrMatTDSparse(ctx->H, d->efc_J, d->efc_JT, D, nefc, nv,
ctx->rownnz, ctx->rowadr, ctx->colind,
d->efc_J_rownnz, d->efc_J_rowadr,
src/engine/engine_util_sparse.c
+103 -5
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@@ -411,8 +411,111 @@ void mju_superSparse(int nr, int* rowsuper,
}
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d) {
mjMARKSTACK;
int* chain = mj_stackAllocInt(d, 2*nc);
int nchain = 0;
int* res_colind = NULL;
for (int r=0; r<nc; r++) {
// supernode; copy everything to next row
if (rowsuperT && r>0 && rowsuperT[r-1]>0) {
res_rownnz[r] = res_rownnz[r - 1];
// fill in upper triangle
for (int j=0; j <nchain; j++) {
res_rownnz[res_colind[j]]++;
}
// update chain with diagonal
if (rownnzT[r]) {
res_colind[nchain++] = r;
res_rownnz[r]++;
}
} else {
int inew = 0, iold = nc;
nchain = 0;
for (int i=0; i<rownnzT[r]; i++) {
int c = colindT[rowadrT[r] + i];
int adr = inew;
inew = iold;
iold = adr;
int nnewchain = 0;
adr = 0;
int end = rowadr[c] + rownnz[c];
for (int adr1=rowadr[c]; adr1<end; adr1++) {
int col_mat = colind[adr1];
while (adr<nchain && chain[iold + adr] < col_mat &&
chain[iold + adr]<=r) {
chain[inew + nnewchain++] = chain[iold + adr++];
}
// skip upper triangle
if (col_mat>r) {
break;
}
if (adr < nchain && chain[iold + adr] == col_mat) {
adr++;
}
chain[inew + nnewchain++] = col_mat;
}
while (adr<nchain && chain[iold + adr]<=r) {
chain[inew + nnewchain++] = chain[iold + adr++];
}
nchain = nnewchain;
}
// only computed for lower triangle
res_rownnz[r] = nchain;
res_colind = chain + inew;
// update upper triangle
int nchain_end = nchain;
// avoid double counting.
if (nchain>0 && res_colind[nchain-1]==r) {
nchain_end = nchain - 1;
}
for (int j=0; j<nchain_end; j++) {
res_rownnz[res_colind[j]]++;
}
}
}
res_rowadr[0] = 0;
for (int r = 1; r < nc; r++) {
res_rowadr[r] = res_rowadr[r-1] + res_rownnz[r-1];
}
mjFREESTACK;
}
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc) {
for (int r=0; r<nc; r++) {
res_rowadr[r] = r*nc;
}
}
// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
// res_rowadr is required to be precomputed
void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,
@@ -424,11 +527,6 @@ void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
// allocate space for accumulation buffer and matT
mjMARKSTACK;
// set uncompressed layout (the following doesn't depend on this layout)
for (int r=0; r<nc; r++) {
res_rowadr[r] = r*nc;
}
// a dense row buffer that stores the current row in the resulting matrix
mjtNum* buffer = mj_stackAlloc(d, nc);
src/engine/engine_util_sparse.h
+13
View File
@@ -70,6 +70,7 @@ MJAPI void mju_superSparse(int nr, int* rowsuper,
const int* rownnz, const int* rowadr, const int* colind);
// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
// res_rowadr is required to be precomputed
MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,
@@ -79,6 +80,18 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
const int* colindT, const int* rowsuperT,
mjData* d);
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
const mjtNum* mat, const mjtNum* matT,
int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d);
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
#ifdef __cplusplus
}
test/benchmark/engine_util_sparse_benchmark_test.cc
+3
View File
@@ -448,6 +448,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
}
// compute H = J'*D*J, uncompressed layout
mju_sqrMatTDUncompressedInit(rowadr, m->nv);
mju_sqrMatTDSparse(H, d->efc_J, d->efc_JT, D, d->nefc, m->nv,
rownnz, rowadr, colind,
d->efc_J_rownnz, d->efc_J_rowadr,
@@ -572,6 +573,8 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
// time benchmark
if (func) {
for (auto s : state) {
mju_sqrMatTDUncompressedInit(rowadr, m->nv);
// compute H = J'*D*J, uncompressed layout
func(H, d->efc_J, d->efc_JT, D, d->nefc, m->nv, rownnz, rowadr, colind,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind, NULL,
test/engine/engine_util_sparse_test.cc
+140 -12
View File
@@ -206,6 +206,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
int rownnzH[] = {0, 0, 0};
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, NULL, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -242,6 +251,16 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
int rownnzH[] = {0, 0, 0};
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, NULL, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -280,6 +299,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -318,6 +346,16 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -354,6 +392,16 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
int rownnzH[] = {0, 0, 0};
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, NULL, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -390,6 +438,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
int rownnzH[] = {0, 0, 0};
int rowadrH[] = {0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, NULL, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -428,6 +485,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 2, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 2));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 2);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 2, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -465,6 +531,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
mjtNum diag[] = {2, 3};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 2, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 2, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -503,6 +578,15 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
mjtNum diag[] = {2, 3, 4};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, NULL, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
NULL, data);
@@ -533,7 +617,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
int rownnzT[] = {3, 3, 3};
int rowadrT[] = {0, 3, 6};
int superowT[] = {2, 1, 0};
int rowsuperT[] = {2, 1, 0};
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -542,9 +626,18 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
superowT, data);
rowsuperT, data);
EXPECT_THAT(matH, ElementsAre(14, 14, 14, 14, 14, 14, 14, 14, 14));
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
@@ -572,7 +665,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
int colindT[] = {0, 0, 2, 0, 2};
int rownnzT[] = {1, 2, 2};
int rowadrT[] = {0, 1, 3};
int superowT[] = {0, 1, 0};
int rowsuperT[] = {0, 1, 0};
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -581,9 +674,18 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 3);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
superowT, data);
rowsuperT, data);
EXPECT_THAT(matH, ElementsAre(1, 1, 1, 1, 10, 10, 1, 10, 10));
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
@@ -611,7 +713,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
int colindT[] = {0, 0, 0, 2, 0, 2};
int rownnzT[] = {1, 1, 2, 2};
int rowadrT[] = {0, 1, 2, 4};
int superowT[] = {1, 0, 1, 0};
int rowsuperT[] = {1, 0, 1, 0};
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -620,9 +722,18 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 4, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4));
EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 4);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 4, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
superowT, data);
rowsuperT, data);
EXPECT_THAT(matH,
ElementsAre(1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 10, 10, 1, 1, 10, 10));
@@ -652,7 +763,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
int colindT[] = {0, 1, 2, 0, 1, 2};
int rownnzT[] = {3, 3, 0, 0, 0};
int rowadrT[] = {0, 3, 6, 6, 6};
int superowT[] = {1, 0, 2, 1, 0};
int rowsuperT[] = {1, 0, 2, 1, 0};
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -663,9 +774,18 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
mjtNum diag[] = {1, 1, 1};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 5, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4, 4, 4));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 5);
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 5, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
superowT, data);
rowsuperT, data);
EXPECT_THAT(matH, ElementsAre(3, 3, 0, 0, 0, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0));
@@ -693,7 +813,7 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
int colindT[] = {0, 0, 0, 0, 0, 0, 0};
int rownnzT[] = {1, 1, 1, 1, 1, 1, 1};
int rowadrT[] = {0, 1, 2, 3, 4, 5, 6};
int superowT[] = {3, 2, 1, 0, 2, 1, 0};
int rowsuperT[] = {3, 2, 1, 0, 2, 1, 0};
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
@@ -704,9 +824,18 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
int rownnzH[] = {0, 0, 0, 0, 0, 0, 0};
int rowadrH[] = {0, 0, 0, 0, 0, 0, 0};
// test precount
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 1, 7, rownnz, rowadr,
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
// test computation
mju_sqrMatTDUncompressedInit(rowadrH, 7);
mju_sqrMatTDSparse(matH, mat, matT, NULL, 1, 7, rownnzH, rowadrH, colindH,
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
superowT, data);
rowsuperT, data);
EXPECT_THAT(
matH, ElementsAre(1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2,
@@ -715,9 +844,8 @@ TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
EXPECT_THAT(colindH,
ElementsAre(0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3,
4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0,
1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6
1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6));
));
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));