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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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introspect/functions.py
+211 -1
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@@ -6815,7 +6815,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=ValueType(name='int'),
),
),
doc='Solve mat * res = vec, where mat is Cholesky-factorized',
doc="Solve (mat*mat') * res = vec, where mat is a Cholesky factor.",
)),
('mju_cholUpdate',
FunctionDecl(
@@ -6845,6 +6845,216 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc="Cholesky rank-one update: L*L' +/- x*x'; return rank.",
)),
('mju_cholFactorBand',
FunctionDecl(
name='mju_cholFactorBand',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='diagadd',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='diagmul',
type=ValueType(name='mjtNum'),
),
),
doc='Band-dense Cholesky decomposition. Returns minimum value in the factorized diagonal, or 0 if rank-deficient. mat has (ntotal-ndense) x nband + ndense x ntotal elements. The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive. The second ndense x ntotal store the band part as entire dense rows. Add diagadd+diagmul*mat_ii to diagonal before factorization.', # pylint: disable=line-too-long
)),
('mju_cholSolveBand',
FunctionDecl(
name='mju_cholSolveBand',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc="Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.", # pylint: disable=line-too-long
)),
('mju_band2Dense',
FunctionDecl(
name='mju_band2Dense',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
),
),
doc='Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.', # pylint: disable=line-too-long
)),
('mju_dense2Band',
FunctionDecl(
name='mju_dense2Band',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc='Convert dense matrix to banded matrix.',
)),
('mju_bandMulMatVec',
FunctionDecl(
name='mju_bandMulMatVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nvec',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
),
),
doc='Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.', # pylint: disable=line-too-long
)),
('mju_bandDiag',
FunctionDecl(
name='mju_bandDiag',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc='Address of diagonal element i in band-dense matrix representation.', # pylint: disable=line-too-long
)),
('mju_eig3',
FunctionDecl(
name='mju_eig3',