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

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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
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src/engine/engine_util_solve.c
+2 -4
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@@ -934,8 +934,7 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
}
// compute objective: value = 0.5*res'*H*res + res'*g
mju_mulMatVec(temp, H, res, n, n); // TODO(b/246267542): do this in one call
value = 0.5 * mju_dot(res, temp, n) + mju_dot(res, g, n);
value = 0.5 * mju_mulVecMatVec(res, H, res, n) + mju_dot(res, g, n);
// save last value
oldvalue = value;
@@ -1056,8 +1055,7 @@ int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index, // outputs
}
// new objective value
mju_mulMatVec(temp, H, candidate, n, n);
value = 0.5 * mju_dot(candidate, temp, n) + mju_dot(candidate, g, n);
value = 0.5 * mju_mulVecMatVec(candidate, H, candidate, n) + mju_dot(candidate, g, n);
// increment and break if step is too small
nstep++;