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

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PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
This commit is contained in:
Alessio Quaglino
2022-11-08 08:38:04 -08:00
committed by Copybara-Service
parent 9ffde761e8
commit 9fc9823a8c
9 changed files with 228 additions and 54 deletions
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test/engine/engine_derivative_test.cc
+3 -2
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@@ -289,7 +289,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[i*nv + i] = -m->jnt_stiffness[i];
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(m, Ac, Ac, 2*nv, d->qH, d->qHDiagInv);
mj_solveLD(m, Ac, 2*nv, d->qH, d->qHDiagInv);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -314,7 +314,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
if (B) {
mjtNum *Bc = mj_stackAlloc(d, nu*nv);
mjtNum *BcT = mj_stackAlloc(d, nv*nu);
mj_solveLD(m, Bc, d->actuator_moment, nu, d->qH, d->qHDiagInv);
mju_copy(Bc, d->actuator_moment, nv*nu);
mj_solveLD(m, Bc, nu, d->qH, d->qHDiagInv);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);