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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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test/benchmark/engine_util_sparse_benchmark_test.cc
+11 -4
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@@ -613,18 +613,25 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
}
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_sqrMatTDSparse_new(benchmark::State& state) {
BM_sqrMatTDSparse_col(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_sqrMatTDSparse(state, &mju_sqrMatTDSparse);
}
BENCHMARK(BM_sqrMatTDSparse_new);
BENCHMARK(BM_sqrMatTDSparse_col);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_sqrMatTDSparse_old(benchmark::State& state) {
BM_sqrMatTDSparse_row(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_sqrMatTDSparse(state, &mju_sqrMatTDSparse_row);
}
BENCHMARK(BM_sqrMatTDSparse_row);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_sqrMatTDSparse_uncompressed(benchmark::State& state) {
MujocoErrorTestGuard guard;
BM_sqrMatTDSparse(state, nullptr);
}
BENCHMARK(BM_sqrMatTDSparse_old);
BENCHMARK(BM_sqrMatTDSparse_uncompressed);
} // namespace
} // namespace mujoco