chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.

Browse Source 
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
This commit is contained in:
Yuval Tassa
2022-09-14 08:04:40 -07:00
committed by Copybara-Service
parent ee9eccc992
commit f4e7fa97af
12 changed files with 109 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_blas.c
+13 -4
View File
@@ -685,8 +685,7 @@ mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n) {
//------------------------------ matrix-vector operations ------------------------------------------
// multiply matrix and vector
void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, int nc) {
void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
for (int r=0; r<nr; r++) {
res[r] = mju_dot(mat + r*nc, vec, nc);
}
@@ -695,8 +694,7 @@ void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// multiply transposed matrix and vector
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, int nc) {
void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
mjtNum tmp;
mju_zero(res, nc);
@@ -709,6 +707,17 @@ void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// multiply square matrix with vectors on both sides: return vec1'*mat*vec2
mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n) {
mjtNum res = 0;
for (int i=0; i<n; i++) {
res += vec1[i] * mju_dot(mat + i*n, vec2, n);
}
return res;
}
//------------------------------ matrix-matrix operations ------------------------------------------
// transpose matrix