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Don't assume compressed input in mju_transposeSparse, allow NULL pointer for matrix values, to only transpose the structure.

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PiperOrigin-RevId: 712472432
Change-Id: I6dd34583ab181f0c9677c55230cecdf0aed46f9e
This commit is contained in:
Yuval Tassa
2025-01-06 03:50:44 -08:00
committed by Copybara-Service
parent 94230a8bee
commit daed8f46c8
1 changed files with 17 additions and 16 deletions
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src/engine/engine_util_sparse.c
+17 -16
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@@ -552,12 +552,13 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
// clear number of non-zeros for each row of transposed // clear number of non-zeros for each row of transposed
mju_zeroInt(res_rownnz, nc); mju_zeroInt(res_rownnz, nc);
// total number of non-zeros of mat
int nnz = rowadr[nr-1] + rownnz[nr-1];
// count the number of non-zeros for each row of the transposed matrix // count the number of non-zeros for each row of the transposed matrix
for (int i = 0; i < nnz; i++) { for (int r = 0; r < nr; r++) {
res_rownnz[colind[i]]++; int start = rowadr[r];
int end = start + rownnz[r];
for (int j = start; j < end; j++) {
res_rownnz[colind[j]]++;
}
} }
// compute the row addresses for the transposed matrix // compute the row addresses for the transposed matrix
@@ -566,18 +567,18 @@ void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
res_rowadr[i] = res_rowadr[i-1] + res_rownnz[i-1]; res_rowadr[i] = res_rowadr[i-1] + res_rownnz[i-1];
} }
// r holds the current row in mat
int r = 0;
// iterate through each non-zero entry of mat // iterate through each non-zero entry of mat
for (int i = 0; i < nnz; i++) { for (int r = 0; r < nr; r++) {
// iterate to get to the current row (skipping rows with all zeros) int start = rowadr[r];
while ((i-rowadr[r]) >= rownnz[r]) r++; int end = start + rownnz[r];
for (int i = start; i < end; i++) {
// swap rows with columns and increment res_rowadr // swap rows with columns and increment res_rowadr
int c = res_rowadr[colind[i]]++; int c = res_rowadr[colind[i]]++;
res[c] = mat[i]; res_colind[c] = r;
res_colind[c] = r; if (res) {
res[c] = mat[i];
}
}
} }
// shift back row addresses // shift back row addresses