Add nnz per row precount method for mju_sqrMatTDSparse.

PiperOrigin-RevId: 521744893 Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
2023-04-04 06:20:32 -07:00
parent 7cc42ecf2a
commit 9924cce4b7
6 changed files with 267 additions and 23 deletions
@@ -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,