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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
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test/engine/engine_derivative_test.cc
+4 -2
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@@ -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);