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Add mju_dense2sparse to public API.

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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
This commit is contained in:
Taylor Howell
2024-10-29 12:47:03 -07:00
committed by Copybara-Service
parent e835f139c8
commit f47840e57c
7 changed files with 109 additions and 3 deletions
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python/mujoco/functions.cc
+19
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@@ -1019,6 +1019,25 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mju_transformSpatial>(pymodule);
// Sparse math
DEF_WITH_OMITTED_PY_ARGS(traits::mju_dense2sparse, "nr", "nc", "nnz")(
pymodule,
[](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
Eigen::Ref<EigenVectorI> rownnz, Eigen::Ref<EigenVectorI> rowadr,
Eigen::Ref<EigenVectorI> colind) {
if (mat.rows() != rownnz.size()) {
throw py::type_error("#rows in mat should equal size of rownnz");
}
if (mat.rows() != rowadr.size()) {
throw py::type_error("#rows in mat should equal size of rowadr");
}
if (res.size() != colind.size()) {
throw py::type_error("#size of res should equal size of colind");
}
return ::mju_dense2sparse(res.data(), mat.data(), mat.rows(),
mat.cols(), rownnz.data(), rowadr.data(),
colind.data(), res.size());
});
DEF_WITH_OMITTED_PY_ARGS(traits::mju_sparse2dense, "nr", "nc")(
pymodule,
[](Eigen::Ref<EigenArrayXX> res,