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Add internal utility for zeroing int vectors.

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Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
This commit is contained in:
Yuval Tassa
2023-09-05 07:13:37 -07:00
committed by Copybara-Service
parent f976d6d228
commit d5292976de
10 changed files with 30 additions and 31 deletions
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src/engine/engine_solver.c
+5 -5
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@@ -464,7 +464,7 @@ void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
}
// process state
memcpy(oldstate, d->efc_state, nefc*sizeof(int));
mju_copyInt(oldstate, d->efc_state, nefc);
int nactive = dualState(m, d);
int nchange = 0;
for (int i=0; i < nefc; i++) {
@@ -680,7 +680,7 @@ void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
}
// process state
memcpy(oldstate, d->efc_state, nefc*sizeof(int));
mju_copyInt(oldstate, d->efc_state, nefc);
int nactive = dualState(m, d);
int nchange = 0;
for (int i=0; i < nefc; i++) {
@@ -1314,7 +1314,7 @@ static void HessianCone(const mjModel* m, mjData* d, mjCGContext* ctx) {
for (int r=0; r < dim; r++) {
// copy data for this row
mju_copy(LTJ_row, LTJ+r*nnz, nnz);
memcpy(LTJ_ind, d->efc_J_colind+d->efc_J_rowadr[i+r], nnz*sizeof(int));
mju_copyInt(LTJ_ind, d->efc_J_colind+d->efc_J_rowadr[i+r], nnz);
// update
mju_cholUpdateSparse(ctx->Hcone, LTJ_row, nv, 1,
@@ -1476,7 +1476,7 @@ static void HessianIncremental(const mjModel* m, mjData* d,
// scale vec, copy colind
mju_scl(vec, d->efc_J+adr, mju_sqrt(d->efc_D[i]), nnz);
memcpy(vec_ind, d->efc_J_colind+adr, nnz*sizeof(int));
mju_copyInt(vec_ind, d->efc_J_colind+adr, nnz);
// sparse update
rank = mju_cholUpdateSparse(ctx->H, vec, nv, flag_update,
@@ -1563,7 +1563,7 @@ static void mj_solCGNewton(const mjModel* m, mjData* d, int maxiter, int flg_New
mju_copy(gradold, ctx.grad, nv);
mju_copy(Mgradold, ctx.Mgrad, nv);
}
memcpy(oldstate, d->efc_state, nefc*sizeof(int));
mju_copyInt(oldstate, d->efc_state, nefc);
mjtNum oldcost = ctx.cost;
// update