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Move mju_combineSparseCount into engine_util_sparse.

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PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
This commit is contained in:
Kyle Bayes
2023-08-29 07:40:06 -07:00
committed by Copybara-Service
parent df1b3515c7
commit ea5e00cad8
6 changed files with 104 additions and 106 deletions
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src/engine/engine_util_sparse.h
+3
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@@ -51,6 +51,9 @@ MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec
MJAPI void mju_compressSparse(mjtNum* mat, int nr, int nc,
int* rownnz, int* rowadr, int* colind);
// 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);
// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,