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mju_compressSparse(): add option to compress away small elements.

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PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
This commit is contained in:
Yuval Tassa
2025-02-12 05:07:18 -08:00
committed by Copybara-Service
parent faed1a1137
commit e39a5df06a
4 changed files with 62 additions and 14 deletions
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src/engine/engine_util_sparse.h
+3 -3
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@@ -50,9 +50,9 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
const int* rownnz, const int* rowadr, const int* colind);
// compress layout of sparse matrix
MJAPI void mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);
// compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
MJAPI int mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind, mjtNum minval);
// count the number of non-zeros in the sum of two sparse vectors
MJAPI int mju_combineSparseCount(int a_nnz, int b_nnz, const int* a_ind, const int* b_ind);