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Remove unnecessary argument in mju_mulSymVecSparse

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PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
This commit is contained in:
Yuval Tassa
2025-05-14 08:11:10 -07:00
committed by Copybara-Service
parent 71bdd915f7
commit e1baa15776
4 changed files with 6 additions and 15 deletions
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src/engine/engine_util_sparse.c
+1 -8
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@@ -227,7 +227,7 @@ void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
const mjtNum* restrict vec, int n,
const int* restrict rownnz, const int* restrict rowadr,
const int* restrict diagnum, const int* restrict colind) {
const int* restrict colind) {
// clear res
mju_zero(res, n);
@@ -240,13 +240,6 @@ void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
// diagonal
res[i] = row[diag] * vec[i];
// TODO: consider using SIMD if diagnum[i] >= 4
// shortcut for diagonal row/column
if (diagnum[i]) {
continue;
}
// off-diagonals
const int* ind = colind + adr;
for (int k=diag-1; k >= 0; k--) {