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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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test/benchmark/engine_util_sparse_benchmark_test.cc
+3 -3
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@@ -206,7 +206,7 @@ int compare_memcmp(const int* vec1,
}
int ABSL_ATTRIBUTE_NOINLINE combineSparse_baseline(mjtNum* dst,
const mjtNum* src, int n,
const mjtNum* src,
mjtNum a, mjtNum b,
int dst_nnz, int src_nnz,
int* dst_ind,
@@ -223,7 +223,7 @@ int ABSL_ATTRIBUTE_NOINLINE combineSparse_baseline(mjtNum* dst,
}
int ABSL_ATTRIBUTE_NOINLINE combineSparse_new(mjtNum* dst,
const mjtNum* src, int n,
const mjtNum* src,
mjtNum a, mjtNum b,
int dst_nnz, int src_nnz,
int* dst_ind,
@@ -470,7 +470,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
// true arguments should be i+1 and colind+rowadr[r]
// but instead we repeat rownnz[c] and colind+rowadr[c]
// in order to trigger all if's in combineSparse
func(H+rowadr[c], H+rowadr[r], c+1, 1, -H[adr+i],
func(H+rowadr[c], H+rowadr[r], 1, -H[adr+i],
rownnz[c], rownnz[c],
colind+rowadr[c], colind+rowadr[c], NULL, NULL);
}