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Convert qLD to CSR format.

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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
This commit is contained in:
Yuval Tassa
2025-02-06 08:58:45 -08:00
committed by Copybara-Service
parent cb1696eb34
commit c27d3758c2
22 changed files with 151 additions and 153 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference/functions.rst
+2 -1
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@@ -423,7 +423,8 @@ Get name of object with the specified mjtObj type and id, returns NULL if name n
.. mujoco-include:: mj_fullM
Convert sparse inertia matrix M into full (i.e. dense) matrix.
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
.. _mj_mulM:
doc/APIreference/functions_override.rst
+5
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@@ -233,6 +233,11 @@ found, the function will return ``distmax`` and ``fromto``, if given, will be se
In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
.. _mj_fullM:
Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix.
|br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``.
.. _mj_mulM:
This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
doc/includes/references.h
+2 -2
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@@ -272,7 +272,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -305,7 +305,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
include/mujoco/mjdata.h
+2 -2
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@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
include/mujoco/mjxmacro.h
+2 -2
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@@ -637,7 +637,7 @@
X ( mjtNum, actuator_moment, nJmom, 1 ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
@@ -654,7 +654,7 @@
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qH, nC, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
introspect/structs.py
+2 -2
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@@ -5261,7 +5261,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of M (sparse)",
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='qLDiagInv',
@@ -5397,7 +5397,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of modified M",
array_extent=('nM',),
array_extent=('nC',),
),
StructFieldDecl(
name='qHDiagInv',
mjx/mujoco/mjx/_src/io.py
+1 -1
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@@ -368,7 +368,7 @@ def make_data(
'efc_aref': (nefc, float),
'efc_force': (nefc, float),
'_qM_sparse': (m.nM, float),
'_qLD_sparse': (m.nM, float),
'_qLD_sparse': (m.nC, float),
'_qLDiagInv_sparse': (m.nv, float),
}
mjx/mujoco/mjx/_src/smooth_test.py
+4 -1
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@@ -91,7 +91,10 @@ class SmoothTest(absltest.TestCase):
_assert_eq(dx._qM_sparse, np.zeros(0), '_qM_sparse')
# factor_m
dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
_assert_attr_eq(d, dx, 'qLD')
qLDLegacy = np.zeros(mx.nM) # pylint:disable=invalid-name
for i in range(m.nC):
qLDLegacy[d.mapM2C[i]] = d.qLD[i]
_assert_eq(qLDLegacy, dx.qLD, 'qLD')
_assert_attr_eq(d, dx, 'qLDiagInv')
_assert_eq(dx._qLD_sparse, np.zeros(0), '_qLD_sparse')
_assert_eq(dx._qLDiagInv_sparse, np.zeros(0), '_qLDiagInv_sparse')
mjx/mujoco/mjx/_src/types.py
+1 -1
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@@ -1348,7 +1348,7 @@ class Data(PyTreeNode):
efc_aref: reference pseudo-acceleration (nefc,)
efc_force: constraint force in constraint space (nefc,)
_qM_sparse: qM in sparse representation (nM,)
_qLD_sparse: qLD in sparse representation (nM,)
_qLD_sparse: qLD in sparse representation (nC,)
_qLDiagInv_sparse: qLDiagInv in sparse representation (nv,)
""" # fmt: skip
# constant sizes:
src/engine/engine_core_constraint.c
+3 -9
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@@ -2131,7 +2131,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// inverse square root of D from inertia LDL decomposition
mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
for (int i=0; i < nv; i++) {
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[m->dof_Madr[i]]);
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
// sparse
@@ -2238,13 +2239,6 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// === in-place sparse back-substitution: B <- B * M^-1/2
// make qLD
int nC = m->nC;
mjtNum* qLD = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLD[i] = d->qLD[d->mapM2C[i]];
}
// sparse backsubM2 (half of LD back-substitution)
for (int r=0; r < nefc; r++) {
int nnzB = B_rownnz[r];
@@ -2258,7 +2252,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
int j = B_colind[i];
int adrC = d->C_rowadr[j];
mju_addToSclSparseInc(B + adrB, qLD + adrC,
mju_addToSclSparseInc(B + adrB, d->qLD + adrC,
nnzB, B_colind + adrB,
d->C_rownnz[j]-1, d->C_colind + adrC, -b);
}
src/engine/engine_core_smooth.c
+15 -26
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@@ -1465,7 +1465,11 @@ void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD, mjtNu
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
mj_factorI(m, d, d->qM, d->qLD, d->qLDiagInv);
int nC = m->nC;
for (int i=0; i < nC; i++) {
d->qLD[i] = d->qM[d->mapM2C[i]];
}
mj_factorIs(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
TM_ADD(mjTIMER_POS_INERTIA);
}
@@ -1709,18 +1713,20 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
if (x != y) {
mju_copy(x, y, n*m->nv);
}
mj_solveLD(m, x, n, d->qLD, d->qLDiagInv);
mj_solveLDs(x, d->qLD, d->qLDiagInv, m->nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
// in-place sparse backsubstitution for one island: x = inv(L'*D*L)*x
// L is in lower triangle of qLD; D is on diagonal of qLD
void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int island) {
void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* restrict x, int island) {
// if no islands, call mj_solveLD
const mjtNum* qLD = d->qLD;
const mjtNum* qLDiagInv = d->qLDiagInv;
if (island < 0) {
mj_solveLD(m, x, 1, qLD, qLDiagInv);
mj_solveLDs(x, qLD, qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
return;
}
@@ -1730,14 +1736,6 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
const int* colind = d->C_colind;
const int* diagnum = m->dof_simplenum;
// temporary: make local CSR version of qLD
int nC = m->nC;
mj_markStack(d);
mjtNum* qLDs = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLDs[i] = d->qLD[d->mapM2C[i]];
}
// local constants: island specific
int ndof = d->island_dofnum[island];
const int* dofind = d->island_dofind + d->island_dofadr[island];
@@ -1751,7 +1749,7 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
int start = rowadr[i];
int end = start + rownnz[i] - 1;
for (int adr=end-1; adr >= start; adr--) {
x[islandind[colind[adr]]] -= qLDs[adr] * x_k;
x[islandind[colind[adr]]] -= qLD[adr] * x_k;
}
}
}
@@ -1773,11 +1771,9 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
int start = rowadr[i];
int end = start + rownnz[i] - 1;
for (int adr=end-1; adr >= start; adr--) {
x[k] -= x[islandind[colind[adr]]] * qLDs[adr];
x[k] -= x[islandind[colind[adr]]] * qLD[adr];
}
}
mj_freeStack(d);
}
@@ -1785,23 +1781,18 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n) {
int nv = m->nv;
// local copies of key variables
int nv = m->nv, nC = m->nC;
const int* rownnz = d->C_rownnz;
const int* rowadr = d->C_rowadr;
const int* colind = d->C_colind;
const int* diagnum = m->dof_simplenum;
const mjtNum* qLD = d->qLD;
// x = y
mju_copy(x, y, n * nv);
// temporary: make local CSR version of qLD
mj_markStack(d);
mjtNum* qLD = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLD[i] = d->qLD[d->mapM2C[i]];
}
// x <- L^-T x
for (int i=nv-1; i > 0; i--) {
// skip diagonal rows
@@ -1831,8 +1822,6 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
x[i+offset] *= invD_i;
}
}
mj_freeStack(d);
}
src/engine/engine_core_smooth.h
+1 -2
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@@ -71,9 +71,8 @@ MJAPI void mj_solveLDs(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, i
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// TODO(tassa): Restore mjData const-ness.
// sparse backsubstitution for one island: x = inv(L'*D*L)*x, use factorization in d
MJAPI void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* x, int island);
MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
src/engine/engine_forward.c
+21 -13
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@@ -770,7 +770,7 @@ static void mj_advance(const mjModel* m, mjData* d,
// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
TM_START;
int nv = m->nv, nM = m->nM;
int nv = m->nv, nC = m->nC;
mj_markStack(d);
mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
mjtNum* qacc = mjSTACKALLOC(d, nv, mjtNum);
@@ -794,22 +794,23 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// damping: integrate implicitly
else {
if (!skipfactor) {
mjtNum* MhB = mjSTACKALLOC(d, nM, mjtNum);
// MhB = M + h*diag(B)
mju_copy(MhB, d->qM, nM);
// qH = M + h*diag(B)
for (int i=0; i < nC; i++) {
d->qH[i] = d->qM[d->mapM2C[i]];
}
for (int i=0; i < nv; i++) {
MhB[m->dof_Madr[i]] += m->opt.timestep * m->dof_damping[i];
d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
}
// factor
mj_factorI(m, d, MhB, d->qH, d->qHDiagInv);
// factorize in-place
mj_factorIs(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
// solve
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
mju_copy(qacc, qfrc, m->nv);
mj_solveLD(m, qacc, 1, d->qH, d->qHDiagInv);
mj_solveLDs(qacc, d->qH, d->qHDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
// advance state and time
@@ -938,7 +939,7 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
// fully implicit in velocity, possibly skipping factorization
void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
TM_START;
int nv = m->nv, nM = m->nM, nD = m->nD;
int nv = m->nv, nM = m->nM, nD = m->nD, nC = m->nC;
mj_markStack(d);
mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
@@ -985,13 +986,20 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
// set MhB = M - dt*qDeriv
mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
// factorize
mj_factorI(m, d, MhB, d->qH, d->qHDiagInv);
// copy into qH
for (int i=0; i < nC; i++) {
d->qH[i] = MhB[d->mapM2C[i]];
}
// factorize in-place
mj_factorIs(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
// solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
mju_copy(qacc, qfrc, nv);
mj_solveLD(m, qacc, 1, d->qH, d->qHDiagInv);
mj_solveLDs(qacc, d->qH, d->qHDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
} else {
mjERROR("integrator must be implicit or implicitfast");
}
src/engine/engine_print.c
+2 -1
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@@ -1127,7 +1127,8 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printInertia("QM", d->qM, m, fp, float_format);
printInertia("QLD", d->qLD, m, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->C_rownnz,
d->C_rowadr, d->C_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
// B sparse structure
src/engine/engine_support.c
+8 -21
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@@ -1087,38 +1087,25 @@ void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
int nv = m->nv;
const mjtNum* qLD = d->qLD;
const int* dofMadr = m->dof_Madr;
mju_zero(res, nv);
// res = L * vec
for (int i=0; i < nv; i++) {
// simple: diagonal
if (m->dof_simplenum[i]) {
res[i] = vec[i];
}
// diagonal
res[i] = vec[i];
// regular: full multiplication
else {
// diagonal
res[i] += vec[i];
// off-diagonal
int j = m->dof_parentid[i];
int adr = dofMadr[i] + 1;
while (j >= 0) {
res[i] += qLD[adr]*vec[j];
// advance to next element
j = m->dof_parentid[j];
adr++;
}
// non-simple: add off-diagonals
if (!m->dof_simplenum[i]) {
int adr = d->C_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->C_rownnz[i] - 1, d->C_colind+adr, /*flg_unc1=*/0);
}
}
// res *= sqrt(D)
for (int i=0; i < nv; i++) {
res[i] *= mju_sqrt(qLD[dofMadr[i]]);
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
res[i] *= mju_sqrt(qLD[diag]);
}
}
src/engine/engine_vis_interact.c
+2 -1
View File
@@ -556,7 +556,8 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur
// compute average spatial inertia at selection point
for (int i=0; i < nv; i++) {
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[m->dof_Madr[i]]);
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
mj_jac(m, d, jac, NULL, selpos, sel);
mj_solveM2(m, d, jacM2, jac, sqrtInvD, 3);
test/benchmark/factorI_benchmark_test.cc
+9 -7
View File
@@ -43,21 +43,23 @@ static void BM_factorI(benchmark::State& state, bool legacy, bool coil) {
// allocate inputs and outputs
mj_markStack(d);
// CSR matrices
mjtNum* Ms = mj_stackAllocNum(d, m->nC);
mjtNum* LDs = mj_stackAllocNum(d, m->nC);
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
for (int i=0; i < m->nC; i++) {
Ms[i] = d->qM[d->mapM2C[i]];
M[i] = d->qM[d->mapM2C[i]];
}
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
if (legacy) {
mj_factorI(m, d, d->qM, d->qLD, d->qLDiagInv);
mj_factorI(m, d, d->qM, LDlegacy, d->qLDiagInv);
} else {
mju_copy(LDs, Ms, m->nC);
mj_factorIs(LDs, d->qLDiagInv, m->nv,
mju_copy(d->qLD, M, m->nC);
mj_factorIs(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
test/benchmark/inertia_benchmark_test.cc
+12 -9
View File
@@ -45,13 +45,15 @@ static void BM_solve(benchmark::State& state, SolveType type) {
// allocate input and output vectors
mj_markStack(d);
// make CSR matrix
mjtNum* Ms = mj_stackAllocNum(d, m->nC);
mjtNum* LDs = mj_stackAllocNum(d, m->nC);
// M: mass matrix in CSR format
mjtNum* M = mj_stackAllocNum(d, m->nC);
for (int i=0; i < m->nC; i++) {
Ms[i] = d->qM[d->mapM2C[i]];
M[i] = d->qM[d->mapM2C[i]];
}
// LDlegacy: legacy LD matrix (size nM)
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
// arbitrary input vector
mjtNum *res = mj_stackAllocNum(d, m->nv);
mjtNum *vec = mj_stackAllocNum(d, m->nv);
@@ -62,17 +64,18 @@ static void BM_solve(benchmark::State& state, SolveType type) {
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
mju_copy(res, vec, m->nv);
switch (type) {
case SolveType::kLegacy:
mj_factorI(m, d, d->qM, d->qLD, d->qLDiagInv);
mj_factorI(m, d, d->qM, LDlegacy, d->qLDiagInv);
mj_solveLD(m, res, 1, LDlegacy, d->qLDiagInv);
mj_solveM(m, d, res, vec, 1);
break;
case SolveType::kCsr:
mju_copy(LDs, Ms, m->nC);
mj_factorIs(LDs, d->qLDiagInv, m->nv,
mju_copy(d->qLD, M, m->nC);
mj_factorIs(d->qLD, d->qLDiagInv, m->nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mju_copy(res, vec, m->nv);
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv, 1,
mj_solveLDs(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
test/benchmark/solveLD_benchmark_test.cc
+7 -6
View File
@@ -50,20 +50,21 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
vec[i] = 0.2 + 0.3*i;
}
// make CSR matrix
mjtNum* LDs = mj_stackAllocNum(d, m->nC);
// make legacy matrix
mjtNum* LDlegacy = mj_stackAllocNum(d, m->nM);
mju_zero(LDlegacy, m->nM);
for (int i=0; i < m->nC; i++) {
LDs[i] = d->qLD[d->mapM2C[i]];
LDlegacy[d->mapM2C[i]] = d->qLD[i];
}
// benchmark
while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
for (int i=0; i < kNumBenchmarkSteps; i++) {
mju_copy(res, vec, m->nv);
if (featherstone) {
mj_solveM(m, d, res, vec, 1);
mj_solveLD(m, res, 1, LDlegacy, d->qLDiagInv);
} else {
mju_copy(res, vec, m->nv);
mj_solveLDs(res, LDs, d->qLDiagInv, m->nv, 1,
mj_solveLDs(res, d->qLD, d->qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
}
test/engine/engine_core_smooth_test.cc
+44 -43
View File
@@ -449,9 +449,8 @@ TEST_F(CoreSmoothTest, SolveMIsland) {
// expect corresponding values to match
for (int j=0; j < dofnum; j++) {
EXPECT_THAT(res_i[j], DoubleNear(res[dofind[j]], 1e-14));
EXPECT_THAT(res_i[j], DoubleNear(res[dofind[j]], 1e-12));
}
mju_free(res_i);
}
@@ -475,21 +474,21 @@ TEST_F(CoreSmoothTest, FactorI) {
// dense L matrix
int nv = model->nv;
vector<mjtNum> Ldense(nv*nv);
mj_fullM(model, Ldense.data(), data->qLD);
// clear upper triangle, set diagonal to 1
vector<mjtNum> Ldense(nv*nv, 0);
mju_sparse2dense(Ldense.data(), data->qLD, nv, nv,
data->C_rownnz, data->C_rowadr, data->C_colind);
for (int i=0; i < nv; i++) {
for (int j=i; j < nv; j++) {
Ldense[i*nv+j] = i == j ? 1 : 0;
}
// set diagonal to 1
Ldense[i*nv+i] = 1;
}
// dense D matrix
vector<mjtNum> Ddense(nv*nv);
mj_fullM(model, Ddense.data(), data->qLD);
// clear everything but the diagonal
mju_sparse2dense(Ddense.data(), data->qLD, nv, nv,
data->C_rownnz, data->C_rowadr, data->C_colind);
for (int i=0; i < nv; i++) {
for (int j=0; j < nv; j++) {
// zero everything except the diagonal
if (i != j) Ddense[i*nv+j] = 0;
}
}
@@ -521,20 +520,21 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_forward(m, d);
int nv = m->nv;
int nM = m->nM;
int nC = m->nC;
// copy LD into LDs: CSR format
vector<mjtNum> LDs(nC);
// copy M into LD: Legacy format
vector<mjtNum> LDlegacy(nM, 0);
for (int i=0; i < nC; i++) {
LDs[i] = d->qLD[d->mapM2C[i]];
LDlegacy[d->mapM2C[i]] = d->qLD[i];
}
// compare LD and LDs densified matrices
vector<mjtNum> LDdense(nv*nv);
mju_sparse2dense(LDdense.data(), LDs.data(), nv, nv,
mju_sparse2dense(LDdense.data(), d->qLD, nv, nv,
d->C_rownnz, d->C_rowadr, d->C_colind);
vector<mjtNum> LDdense2(nv*nv);
mj_fullM(m, LDdense2.data(), d->qLD);
mj_fullM(m, LDdense2.data(), LDlegacy.data());
// expect lower triangles to match exactly
for (int i=0; i < nv; i++) {
@@ -543,14 +543,14 @@ TEST_F(CoreSmoothTest, SolveLDs) {
}
}
// compare LD and LDs vector solve
// compare legacy and CSR LD vector solve
vector<mjtNum> vec(nv);
vector<mjtNum> vec2(nv);
for (int i=0; i < nv; i++) vec[i] = vec2[i] = 20 + 30*i;
for (int i=0; i < nv; i+=2) vec[i] = vec2[i] = 0;
mj_solveLD(m, vec.data(), 1, d->qLD, d->qLDiagInv);
mj_solveLDs(vec2.data(), LDs.data(), d->qLDiagInv, nv, 1,
mj_solveLD(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLDs(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect vectors to match up to floating point precision
@@ -572,12 +572,13 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_forward(m, d);
int nv = m->nv;
int nM = m->nM;
int nC = m->nC;
// copy LD into LDs: CSR format
vector<mjtNum> LDs(nC);
// copy LD into LDlegacy: Legacy format
vector<mjtNum> LDlegacy(nM, 0);
for (int i=0; i < nC; i++) {
LDs[i] = d->qLD[d->mapM2C[i]];
LDlegacy[d->mapM2C[i]] = d->qLD[i];
}
// compare n LD and LDs vector solve
@@ -587,8 +588,8 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
for (int i=0; i < nv*n; i++) vec[i] = vec2[i] = 2 + 3*i;
for (int i=0; i < nv*n; i+=3) vec[i] = vec2[i] = 0;
mj_solveLD(m, vec.data(), n, d->qLD, d->qLDiagInv);
mj_solveLDs(vec2.data(), LDs.data(), d->qLDiagInv, nv, n,
mj_solveLD(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLDs(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect vectors to match up to floating point precision
@@ -609,19 +610,12 @@ TEST_F(CoreSmoothTest, SolveM2) {
mjData* d = mj_makeData(m);
mj_forward(m, d);
int nv = m->nv;
int nC = m->nC;
// copy LD into LDs: CSR format
vector<mjtNum> LDs(nC);
for (int i=0; i < nC; i++) {
LDs[i] = d->qLD[d->mapM2C[i]];
}
// inverse square root of D from inertia LDL decomposition
int nv = m->nv;
vector<mjtNum> sqrtInvD(nv);
for (int i=0; i < nv; i++) {
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[m->dof_Madr[i]]);
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
// compare full solve and half solve
@@ -633,7 +627,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
vector<mjtNum> res(nv*n);
mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
mj_solveLDs(vec2.data(), LDs.data(), d->qLDiagInv, nv, n,
mj_solveLDs(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
@@ -655,25 +649,32 @@ TEST_F(CoreSmoothTest, FactorIs) {
mjData* d = mj_makeData(m);
mj_forward(m, d);
int nC = m->nC, nv = m->nv;
int nC = m->nC, nM = m->nM, nv = m->nv;
// copy qM into LDs, qLD into qLDexpected: CSR format
vector<mjtNum> qLDsExpected(nC);
vector<mjtNum> qLDs(nC);
// copy qM into into qLDlegacy and factorize
vector<mjtNum> qLDlegacy(nM);
mj_factorI(m, d, d->qM, qLDlegacy.data(), d->qLDiagInv);
// copy qLDlegacy into qLDexpected: CSR format
vector<mjtNum> qLDexpected(nC);
for (int i=0; i < nC; i++) {
int index = d->mapM2C[i];
qLDs[i] = d->qM[index]; // mj_factorIs is in-place
qLDsExpected[i] = d->qLD[index];
qLDexpected[i] = qLDlegacy[d->mapM2C[i]]; // mj_factorIs is in-place
}
// copy qM into qLD: CSR format
vector<mjtNum> qLD(nC);
for (int i=0; i < nC; i++) {
qLD[i] = d->qM[d->mapM2C[i]]; // mj_factorIs is in-place
}
vector<mjtNum> qLDiagInvExpected(d->qLDiagInv, d->qLDiagInv + nv);
vector<mjtNum> qLDiagInv(nv, 0);
mj_factorIs(qLDs.data(), qLDiagInv.data(), nv,
mj_factorIs(qLD.data(), qLDiagInv.data(), nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// expect outputs to match to floating point precision
EXPECT_THAT(qLDs, Pointwise(DoubleNear(1e-12), qLDsExpected));
EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
EXPECT_THAT(qLDiagInv, Pointwise(DoubleNear(1e-12), qLDiagInvExpected));
/* uncomment for debugging
test/engine/engine_derivative_test.cc
+4 -2
View File
@@ -436,7 +436,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[i*nv + i] = -m->jnt_stiffness[i];
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(m, Ac, 2*nv, d->qH, d->qHDiagInv);
mj_solveLDs(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -463,7 +464,8 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mjtNum *BcT = mj_stackAllocNum(d, nv*nu);
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(m, Bc, nu, d->qH, d->qHDiagInv);
mj_solveLDs(Bc, d->qH, d->qHDiagInv, nv, nu,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);
test/pipeline_test.cc
+2 -1
View File
@@ -61,7 +61,8 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);
// expect accelerations to be insignificantly different
EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse))
<< "failed equivalence for solver=" << solver;
}
mj_deleteData(data);