Implement a more performant mju_transposeSparse that doesn't require dense memory allocation.

PiperOrigin-RevId: 505044194 Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
2023-01-27 00:19:14 -08:00
parent 4b4ee27f64
commit c741dfce7d
5 changed files with 255 additions and 30 deletions
@@ -8,6 +8,10 @@ Upcoming version (not yet released)
 General
 ^^^^^^^

+- A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
+  For a constraint Jacobian matrix from the
+  `humanoid100.xml <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
+  this function is 35% faster.
 - The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
  performance.