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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
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src/engine/engine_util_sparse.h
+13
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@@ -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
}