Add private functions and associated tests related to constraint island discovery.

PiperOrigin-RevId: 553156672 Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
2023-08-02 08:42:25 -07:00
parent efca1a76aa
commit a063e2f0ef
4 changed files with 369 additions and 4 deletions
@@ -114,6 +114,13 @@ MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
 // optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
 MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                               mjtNum cost[1], int flg_coneHessian);
+
+// construct sparse matrix from unsorted edge array, return number of nonzeros
+MJAPI int mj_edge2Sparse(int* rownnz, int* rowadr, int* colind, int* edge, int ne, int nr);
+
+MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,
+                       int* scratch);
+
 #ifdef __cplusplus
 }
 #endif