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Optimize and refactor combineSparse and combineSparseCount.

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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
This commit is contained in:
Kyle Bayes
2023-08-18 06:13:20 -07:00
committed by Copybara-Service
parent b1ecc943bb
commit ba12a1354b
7 changed files with 49 additions and 45 deletions
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src/engine/engine_util_solve.c
+4 -5
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@@ -190,7 +190,7 @@ int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
int c = colind[adr+i];
// mat(c,0:c) = mat(c,0:c) - mat(r,c) * mat(r,0:c)
int nnz_c = mju_combineSparse(mat + rowadr[c], mat+rowadr[r], c + 1, 1, -mat[adr+i],
int nnz_c = mju_combineSparse(mat + rowadr[c], mat+rowadr[r], 1, -mat[adr+i],
rownnz[c], i+1, colind+rowadr[c], colind+rowadr[r],
sparse_buf, buf_ind);
@@ -278,7 +278,7 @@ int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
mat[adr+nnz-1] = r;
// update row: mat(r,1:r-1) = (mat(r,1:r-1) + s*x(1:r-1)) / c
int new_nnz = mju_combineSparse(mat + adr, x, n, 1 / c, (flg_plus ? s / c : -s / c),
int new_nnz = mju_combineSparse(mat + adr, x, 1 / c, (flg_plus ? s / c : -s / c),
nnz-1, i, colind + adr, x_ind,
sparse_buf, buf_ind);
@@ -288,9 +288,8 @@ int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
}
// update x: x(1:r-1) = c*x(1:r-1) - s*mat(r,1:r-1)
int new_x_nnz = mju_combineSparse(x, mat+adr, n, c, -s,
i, nnz-1, x_ind, colind+adr,
sparse_buf, buf_ind);
int new_x_nnz = mju_combineSparse(x, mat+adr, c, -s, i, nnz-1, x_ind,
colind+adr, sparse_buf, buf_ind);
// update i, correct for changing x
i = i - 1 + (new_x_nnz - i);