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Add utility functions for banded-then-dense symmetric matrices.

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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
This commit is contained in:
Yuval Tassa
2023-05-02 05:57:22 -07:00
committed by Copybara-Service
parent 2ad82d5998
commit b0bc330b54
13 changed files with 1147 additions and 10 deletions
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doc/includes/references.h
+10
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@@ -2408,6 +2408,16 @@ void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
mjtNum diagadd, mjtNum diagmul);
void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense);
void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
mjtByte flg_sym);
void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int ntotal, int nband, int ndense, int nvec, mjtByte flg_sym);
int mju_bandDiag(int i, int ntotal, int nband, int ndense);
int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
const mjtNum* lower, const mjtNum* upper);