chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.

Browse Source 
PiperOrigin-RevId: 720126576
Change-Id: I3a43bdd0259656fab462b1cd155cb422982e970d
This commit is contained in:
Yuval Tassa
2025-01-27 05:05:57 -08:00
committed by Copybara-Service
parent 4ab274aea9
commit d86900aac1
4 changed files with 8 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.h
+1 -1
View File
@@ -64,7 +64,7 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
// incomplete combine sparse: dst = a*dst + b*src at common indices
void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind);
int dst_nnz, int src_nnz, const int* dst_ind, const int* src_ind);
// dst += scl * src, only at common non-zero indices
void mju_addToSclSparseInc(mjtNum* dst, const mjtNum* src,