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Speed up mju_sqrMatTDSparse

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PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
This commit is contained in:
Yuval Tassa
2025-05-16 06:41:08 -07:00
committed by Copybara-Service
parent 81442e06a0
commit ee8abdf854
4 changed files with 335 additions and 21 deletions
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src/engine/engine_util_sparse.h
+10
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@@ -110,6 +110,16 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
const int* colindT, const int* rowsuperT,
mjData* d, int* diagind);
// LEGACY: row-based implementation
MJAPI void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, const int* res_rowadr, int* res_colind,
const int* rownnz, const int* rowadr,
const int* colind, const int* rowsuper,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d, int* diagind);
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,