Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores).

PiperOrigin-RevId: 486960670 Change-Id: I8fce96427158ec36069dea893500059e93bd40db
2022-11-08 08:38:04 -08:00
parent 9ffde761e8
commit 9fc9823a8c
9 changed files with 228 additions and 54 deletions
@@ -56,7 +56,7 @@ MJAPI void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
 MJAPI void mj_factorM(const mjModel* m, mjData* d);

 // sparse backsubstitution:  x = inv(L'*D*L)*y
-MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, const mjtNum* y, int n,
+MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, int n,
                      const mjtNum* qLD, const mjtNum* qLDiagInv);

 // sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d