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Return the total non-zeros from mju_sqrMatTDSparseCount.

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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
This commit is contained in:
Yuval Tassa
2025-06-17 04:26:10 -07:00
committed by Copybara-Service
parent ea949f1cee
commit 998769a995
4 changed files with 22 additions and 24 deletions
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src/engine/engine_util_sparse.c
+7 -5
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@@ -636,11 +636,11 @@ void mju_superSparse(int nr, int* rowsuper,
}
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper) {
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse, return total non-zeros
int mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d, int flg_upper) {
mj_markStack(d);
int* chain = mjSTACKALLOC(d, 2*nr, int);
int nchain = 0;
@@ -726,6 +726,8 @@ void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
}
mj_freeStack(d);
return res_rowadr[nr-1] + res_rownnz[nr-1];
}