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Avoid allocation and copying in implicit solver's addJTBJSparse

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PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
This commit is contained in:
Yuval Tassa
2024-12-30 04:18:11 -08:00
committed by Copybara-Service
parent 8cb253b6ca
commit e42370c982
3 changed files with 14 additions and 24 deletions
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src/engine/engine_util_sparse.h
+4 -4
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@@ -63,10 +63,10 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
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);
// dst += src, only at common non-zero indices
void mju_addToSparseInc(mjtNum* dst, const mjtNum* src,
int nnzdst, const int* inddst,
int nnzsrc, const int* indsrc);
// dst += scl * src, only at common non-zero indices
void mju_addToSclSparseInc(mjtNum* dst, const mjtNum* src,
int nnzdst, const int* inddst,
int nnzsrc, const int* indsrc, mjtNum scl);
// add to sparse matrix: dst = dst + scl*src, return nnz of result
int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum scl,