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Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros.

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PiperOrigin-RevId: 690545825
Change-Id: I0e31cb907a1151cb2e4766d5f0cdfecb5629a2a6
This commit is contained in:
Taylor Howell
2024-10-28 03:46:00 -07:00
committed by Copybara-Service
parent 1c424644dd
commit a36f2cccb6
4 changed files with 63 additions and 15 deletions
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src/engine/engine_util_sparse.c
+13 -2
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@@ -148,8 +148,13 @@ mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const in
// convert matrix from dense to sparse
void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind) {
// nnz is size of res and colind, return 1 if too small, 0 otherwise
int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, int nnz) {
if (nnz <= 0) {
return 1;
}
int adr = 0;
// find non-zeros and construct sparse
@@ -161,6 +166,11 @@ void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
// find non-zeros
for (int c=0; c < nc; c++) {
if (mat[r*nc+c]) {
// check for out of bounds
if (adr >= nnz) {
return 1;
}
// record index and count
colind[adr] = c;
rownnz[r]++;
@@ -170,6 +180,7 @@ void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
}
}
}
return 0;
}