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Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
This commit is contained in:
Yuval Tassa
2025-05-14 07:12:19 -07:00
committed by Copybara-Service
parent b0c36c6b33
commit d8bebdc675
9 changed files with 33 additions and 38 deletions
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test/engine/engine_core_smooth_test.cc
+4 -4
View File
@@ -722,7 +722,7 @@ TEST_F(CoreSmoothTest, SolveLDs) {
mj_solveLD_legacy(m, vec.data(), 1, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
// expect vectors to match up to floating point precision
for (int i=0; i < nv; i++) {
@@ -757,7 +757,7 @@ TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
mj_solveLD_legacy(m, vec.data(), n, LDlegacy.data(), d->qLDiagInv);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
// expect vectors to match up to floating point precision
for (int i=0; i < nv*n; i++) {
@@ -795,7 +795,7 @@ TEST_F(CoreSmoothTest, SolveM2) {
mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
// expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
for (int i=0; i < n; i++) {
@@ -834,7 +834,7 @@ TEST_F(CoreSmoothTest, FactorIs) {
vector<mjtNum> qLDiagInv(nv, 0);
mj_factorI(qLD.data(), qLDiagInv.data(), nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
// expect outputs to match to floating point precision
EXPECT_THAT(qLD, Pointwise(DoubleNear(1e-12), qLDexpected));
test/engine/engine_derivative_test.cc
+2 -2
View File
@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);