Yuval Tassa
45fc15b844
PiperOrigin-RevId: 760673008 Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
1479 lines
45 KiB
C++
1479 lines
45 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for engine/engine_util_sparse.c
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#include <array>
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#include "src/engine/engine_util_sparse.h"
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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// permute the rows and columns of a dense matrix
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inline void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
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const int* perm_r, const int* perm_c,
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bool scatter_r, bool scatter_c) {
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for (int r = 0; r < nr; r++) {
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for (int c = 0; c < nc; c++) {
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if (scatter_r && scatter_c) {
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// scatter both
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res[perm_r[r] * nc + perm_c[c]] = mat[r * nc + c];
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} else if (scatter_r && !scatter_c) {
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// scatter rows, gather columns
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res[perm_r[r] * nc + c] = mat[r * nc + perm_c[c]];
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} else if (!scatter_r && scatter_c) {
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// gather rows, scatter columns
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res[r * nc + perm_c[c]] = mat[perm_r[r] * nc + c];
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} else {
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// gather both
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res[r * nc + c] = mat[perm_r[r] * nc + perm_c[c]];
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}
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}
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}
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}
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using ::testing::ElementsAre;
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using EngineUtilSparseTest = MujocoTest;
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TEST_F(EngineUtilSparseTest, MjuDot) {
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mjtNum a[] = {2, 3, 4, 5, 6, 7, 8};
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mjtNum b[] = {8, 1, 7, 1, 1, 6, 1, 1, 1, 5, 1, 1, 1, 4, 1, 1, 3, 1, 2};
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int i[] = {0, 2, 5, 9, 13, 16, 18};
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// test various vector lengths as mju_dotSparse adds numbers in groups of four
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EXPECT_EQ(mju_dotSparse(a, b, 0, i), 0);
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EXPECT_EQ(mju_dotSparse(a, b, 1, i), 2*8);
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EXPECT_EQ(mju_dotSparse(a, b, 2, i), 2*8 + 3*7);
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EXPECT_EQ(mju_dotSparse(a, b, 3, i), 2*8 + 3*7 + 4*6);
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EXPECT_EQ(mju_dotSparse(a, b, 4, i), 2*8 + 3*7 + 4*6 + 5*5);
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EXPECT_EQ(mju_dotSparse(a, b, 5, i), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
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EXPECT_EQ(mju_dotSparse(a, b, 6, i),
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2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3);
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EXPECT_EQ(mju_dotSparse(a, b, 7, i),
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2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3 + 8*2);
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}
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TEST_F(EngineUtilSparseTest, MjuDot2) {
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constexpr int annz = 6;
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constexpr int bnnz = 5;
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// values
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mjtNum a[annz] = {2, 3, 4, 5, 6};
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mjtNum b[bnnz] = { 8, 7, 6, 5, 4};
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// indices
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int ia[annz] = {0, 2, 5, 6, 7};
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int ib[bnnz] = { 1, 2, 3, 5, 7};
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EXPECT_EQ(mju_dotSparse2(a, ia, annz, b, ib, bnnz), 3 * 7 + 4 * 5 + 6 * 4);
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}
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TEST_F(EngineUtilSparseTest, CombineSparseCount) {
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{
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std::array a_ind{0, 1};
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std::array b_ind{2};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 3);
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}
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{
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std::array a_ind{2};
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std::array b_ind{0, 1};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 3);
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}
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{
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std::array a_ind{0, 1};
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std::array b_ind{2, 3, 4};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 5);
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}
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{
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std::array a_ind{5, 6};
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std::array b_ind{1, 3, 8};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 5);
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}
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{
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std::array a_ind{1, 2, 3};
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std::array b_ind{0, 4};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 5);
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}
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{
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std::array a_ind{1, 4};
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std::array b_ind{2, 3};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 4);
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}
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{
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std::array a_ind{0, 1, 3};
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std::array b_ind{0, 3, 4};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 4);
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}
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{
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std::array a_ind{1, 3, 5, 6};
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std::array b_ind{1, 3, 5, 6};
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EXPECT_EQ(mju_combineSparseCount(
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a_ind.size(), b_ind.size(), a_ind.data(), b_ind.data()), 4);
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}
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EXPECT_EQ(mju_combineSparseCount(0, 0, nullptr, nullptr), 0);
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{
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std::array b_ind{1, 2};
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EXPECT_EQ(
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mju_combineSparseCount(0, b_ind.size(), nullptr, b_ind.data()), 2);
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}
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{
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std::array a_ind{0};
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EXPECT_EQ(
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mju_combineSparseCount(a_ind.size(), 0, a_ind.data(), nullptr), 1);
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}
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}
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TEST_F(EngineUtilSparseTest, MjuTranspose3by3) {
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// 1 2 0 1 0 0
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// 0 1 0 --> 2 1 3
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// 0 3 0 0 0 0
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mjtNum mat[] = {1, 2, 1, 3};
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int colind[] = {0, 1, 1, 1};
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int rownnz[] = {2, 1, 1};
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int rowadr[] = {0, 2, 3};
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mjtNum matT[] = {0, 0, 0, 0};
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int colindT[] = {0, 0, 0, 0};
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int rownnzT[] = {0, 0, 0};
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int rowadrT[] = {0, 0, 0};
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mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, nullptr,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1, 2, 1, 3));
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EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 2));
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EXPECT_THAT(rownnzT, ElementsAre(1, 3, 0));
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EXPECT_THAT(rowadrT, ElementsAre(0, 1, 4));
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}
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TEST_F(EngineUtilSparseTest, MjuTranspose1by3) {
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// 1 0 3 1
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// --> 0
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// 3
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mjtNum mat[] = {1, 3};
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int colind[] = {0, 2};
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int rownnz[] = {2};
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int rowadr[] = {0};
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mjtNum matT[] = {0, 0};
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int colindT[] = {0, 0};
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int rownnzT[] = {0, 0, 0};
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int rowadrT[] = {0, 0, 0};
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mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, nullptr,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1, 3));
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EXPECT_THAT(colindT, ElementsAre(0, 0));
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EXPECT_THAT(rownnzT, ElementsAre(1, 0, 1));
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EXPECT_THAT(rowadrT, ElementsAre(0, 1, 1));
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}
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TEST_F(EngineUtilSparseTest, MjuTranspose3by1) {
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// 1 1 0 3
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// 0 -->
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// 3
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mjtNum mat[] = {1, 3};
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int colind[] = {0, 0};
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int rownnz[] = {1, 0, 1};
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int rowadr[] = {0, 1, 1};
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mjtNum matT[] = {0, 0};
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int colindT[] = {0, 0};
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int rownnzT[] = {0};
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int rowadrT[] = {0};
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mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, nullptr,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1, 3));
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EXPECT_THAT(colindT, ElementsAre(0, 2));
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EXPECT_THAT(rownnzT, ElementsAre(2));
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EXPECT_THAT(rowadrT, ElementsAre(0));
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}
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TEST_F(EngineUtilSparseTest, MjuTransposeDense) {
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// 1 2 3 1 4 7
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// 4 5 6 --> 2 5 8
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// 7 8 9 3 6 9
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mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
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int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
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int rownnz[] = {3, 3, 3};
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int rowadr[] = {0, 3, 6};
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mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rownnzT[] = {0, 0, 0};
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int rowadrT[] = {0, 0, 0};
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int rowsuperT[] = {0, 0, 0};
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mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rowsuperT,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1, 4, 7, 2, 5, 8, 3, 6, 9));
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EXPECT_THAT(colindT, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
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EXPECT_THAT(rownnzT, ElementsAre(3, 3, 3));
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EXPECT_THAT(rowadrT, ElementsAre(0, 3, 6));
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EXPECT_THAT(rowsuperT, ElementsAre(2, 1, 0));
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}
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TEST_F(EngineUtilSparseTest, MjuTransposeSuper) {
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// mat: 0, 1, 2, 0, 3, 4, 5, 0, 0, 0, 0, 0, 0
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// 0, 0, 0, 6, 7, 8, 9, 10, 11, 12, 0, 0, 0
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//
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// super: 0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2, 1, 0
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mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
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int colind[] = {1, 2, 4, 5, 6, 3, 4, 5, 6, 7, 8, 9};
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int rownnz[] = {5, 7};
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int rowadr[] = {0, 5};
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mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rownnzT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rowadrT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rowsuperT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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mju_transposeSparse(matT, mat, 2, 13, rownnzT, rowadrT, colindT, rowsuperT,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1, 2, 6, 3, 7, 4, 8, 5, 9, 10, 11, 12));
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EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1));
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EXPECT_THAT(rownnzT, ElementsAre(0, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0, 0, 0));
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EXPECT_THAT(rowadrT, ElementsAre(0, 0, 1, 2, 3, 5, 7, 9, 10, 11, 12, 12, 12));
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EXPECT_THAT(rowsuperT, ElementsAre(0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2, 1, 0));
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}
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TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
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// 1 -> 1
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mjtNum mat[] = {1};
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int colind[] = {0};
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int rownnz[] = {1};
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int rowadr[] = {0};
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mjtNum matT[] = {0};
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int colindT[] = {0};
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int rownnzT[] = {0};
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int rowadrT[] = {0};
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mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, nullptr,
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rownnz, rowadr, colind);
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EXPECT_THAT(matT, ElementsAre(1));
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EXPECT_THAT(colindT, ElementsAre(0));
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EXPECT_THAT(rownnzT, ElementsAre(1));
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EXPECT_THAT(rowadrT, ElementsAre(0));
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}
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TEST_F(EngineUtilSparseTest, MjuTransposeNullMatrix) {
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// 0 -> 0
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mjtNum mat[] = {};
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int colind[] = {};
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int rownnz[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rowadr[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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mjtNum matT[] = {};
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int colindT[] = {};
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int rownnzT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
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int rowadrT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
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mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, nullptr,
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rownnz, rowadr, colind);
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EXPECT_THAT(rownnzT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
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EXPECT_THAT(rowadrT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
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}
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TEST_F(EngineUtilSparseTest, MjuCompressSparse) {
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// sparse matrix (uncompressed with spurious values between the rows):
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// [[1, 0, 2]
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// [0, O, 3] (second zero represented)
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mjtNum mat[] = {1, 2, 9, 0, 3}; // spurious 9 value
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int colind[] = {0, 2, -1, 1, 2}; // spurious -1 index
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int rownnz[] = {2, 2};
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int rowadr[] = {0, 3};
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mjtNum dense_expected[] = {1, 0, 2, 0, 0, 3};
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mjtNum dense[6];
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mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
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EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
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// check that spurious values are removed
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int nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind,
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/*minval=*/-1);
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EXPECT_EQ(nnz, 4);
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mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
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EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
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// check that represented zero gets compressed aways with minval=0
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nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind, /*minval=*/0);
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EXPECT_EQ(nnz, 3);
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mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
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EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
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// check that 1 gets compressed aways with minval=1
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nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind, /*minval=*/1);
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EXPECT_EQ(nnz, 2);
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mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
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mjtNum dense_expected_minval1[] = {0, 0, 2, 0, 0, 3};
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EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected_minval1, 6));
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}
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TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
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// 0 0 0
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// M = 0 0 0
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// 0 0 0
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mjModel* model = LoadModelFromString("<mujoco/>");
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mjData* data = mj_makeData(model);
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mjtNum mat[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
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int rownnz[] = {3, 3, 3};
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int rowadr[] = {0, 3, 6};
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mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
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int rownnzT[] = {3, 3, 3};
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int rowadrT[] = {0, 3, 6};
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mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rownnzH[] = {0, 0, 0};
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int rowadrH[] = {0, 0, 0};
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int diagindH[] = {0, 0, 0};
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// test precount
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mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
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rownnzT, rowadrT, colindT, nullptr, data, 1);
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EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
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EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
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// test computation
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mju_sqrMatTDUncompressedInit(rowadrH, 3);
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mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
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nullptr, data, diagindH);
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EXPECT_THAT(matH, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0));
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EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
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EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
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EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseLower) {
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// 2 -1 1
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// M = 2 -1 2
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// 2 2 3
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
|
|
int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnz[] = {3, 3, 3};
|
|
int rowadr[] = {0, 3, 6};
|
|
|
|
mjtNum matT[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
|
|
int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnzT[] = {3, 3, 3};
|
|
int rowadrT[] = {0, 3, 6};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 0);
|
|
EXPECT_THAT(rownnzH, ElementsAre(1, 2, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 1, 3));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, nullptr);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(12, 0, 0, 0, 6, 0, 12, 3, 14));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 0, 0, 0, 1, 0, 0, 1, 2));
|
|
EXPECT_THAT(rownnzH, ElementsAre(1, 2, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
|
|
// 2 -1 1
|
|
// M = 2 -1 2
|
|
// 2 2 3
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
|
|
int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnz[] = {3, 3, 3};
|
|
int rowadr[] = {0, 3, 6};
|
|
|
|
mjtNum matT[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
|
|
int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnzT[] = {3, 3, 3};
|
|
int rowadrT[] = {0, 3, 6};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(12, 0, 12, 0, 6, 3, 12, 3, 14));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
EXPECT_THAT(diagindH, ElementsAre(0, 4, 8));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
|
|
// 1 2 0
|
|
// M = 0 3 0
|
|
// 4 0 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 3, 4};
|
|
int colind[] = {0, 1, 1, 0};
|
|
int rownnz[] = {2, 1, 1};
|
|
int rowadr[] = {0, 2, 3};
|
|
|
|
mjtNum matT[] = {1, 4, 2, 3};
|
|
int colindT[] = {0, 2, 0, 1};
|
|
int rownnzT[] = {2, 2, 0};
|
|
int rowadrT[] = {0, 2, 4};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(66, 4, 0, 4, 35, 0, 0, 0, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 0, 2, 0, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 1));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3b) {
|
|
// 1 2 0
|
|
// M = 0 3 4
|
|
// 5 0 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 3, 4, 5};
|
|
int colind[] = {0, 1, 1, 2, 0};
|
|
int rownnz[] = {2, 2, 1};
|
|
int rowadr[] = {0, 2, 4};
|
|
|
|
mjtNum matT[] = {1, 5, 2, 3, 4};
|
|
int colindT[] = {0, 2, 0, 1, 1};
|
|
int rownnzT[] = {2, 2, 1};
|
|
int rowadrT[] = {0, 2, 4};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 3, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 5));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(26, 2, 0, 2, 13, 12, 12, 16, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 2, 1, 2, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 3, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
EXPECT_THAT(diagindH, ElementsAre(0, 4, 7));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
|
|
// 1 0 2
|
|
// M = 0 0 3
|
|
// 4 0 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 3, 4};
|
|
int colind[] = {0, 2, 2, 0};
|
|
int rownnz[] = {2, 1, 1};
|
|
int rowadr[] = {0, 2, 3};
|
|
|
|
mjtNum matT[] = {1, 4, 2, 3};
|
|
int colindT[] = {0, 2, 0, 1};
|
|
int rownnzT[] = {2, 0, 2};
|
|
int rowadrT[] = {0, 2, 2};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(66, 4, 0, 0, 0, 0, 4, 35, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 2, 0, 1, 0, 0, 0, 2, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
|
|
// 1 0 4
|
|
// M = 0 0 0
|
|
// 2 3 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 4, 2, 3};
|
|
int colind[] = {0, 2, 0, 1};
|
|
int rownnz[] = {2, 0, 2};
|
|
int rowadr[] = {0, 2, 2};
|
|
|
|
mjtNum matT[] = {1, 2, 3, 4};
|
|
int colindT[] = {0, 2, 2, 0};
|
|
int rownnzT[] = {2, 1, 1};
|
|
int rowadrT[] = {0, 2, 3};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(5, 6, 4, 6, 9, 0, 4, 16, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 0, 0, 2, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
|
|
// 1 0 2
|
|
// M = 0 2 0
|
|
// 0 0 3
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 2, 3};
|
|
int colind[] = {0, 2, 1, 2};
|
|
int rownnz[] = {2, 1, 1};
|
|
int rowadr[] = {0, 2, 3};
|
|
|
|
mjtNum matT[] = {1, 2, 2, 3};
|
|
int colindT[] = {0, 1, 0, 2};
|
|
int rownnzT[] = {1, 1, 2};
|
|
int rowadrT[] = {0, 1, 2};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 3));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, nullptr, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(1, 2, 0, 4, 0, 0, 2, 13, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 2, 0, 1, 0, 0, 0, 2, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 1, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
EXPECT_THAT(diagindH, ElementsAre(0, 3, 7));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
|
|
// 1 2
|
|
// M = 0 3
|
|
// 4 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 3, 4};
|
|
int colind[] = {0, 1, 1, 0};
|
|
int rownnz[] = {2, 1, 1};
|
|
int rowadr[] = {0, 2, 3};
|
|
|
|
mjtNum matT[] = {1, 4, 2, 3};
|
|
int colindT[] = {0, 2, 0, 1};
|
|
int rownnzT[] = {2, 2};
|
|
int rowadrT[] = {0, 2};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0};
|
|
int rowadrH[] = {0, 0};
|
|
int diagindH[] = {0, 0};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 2, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 2);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 2, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(66, 4, 4, 35));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 1));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
|
|
// M = 1 0 4
|
|
// 2 3 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 4, 2, 3};
|
|
int colind[] = {0, 2, 0, 1};
|
|
int rownnz[] = {2, 2};
|
|
int rowadr[] = {0, 2};
|
|
|
|
mjtNum matT[] = {1, 2, 3, 4};
|
|
int colindT[] = {0, 1, 1, 0};
|
|
int rownnzT[] = {2, 1, 1};
|
|
int rowadrT[] = {0, 2, 3};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {2, 3};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 2, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(14, 18, 8, 18, 27, 0, 8, 32, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 0, 0, 2, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
|
|
// 1 2 2
|
|
// M = 1 3 4
|
|
// 4 4 4
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 2, 1, 3, 4, 4, 4, 4};
|
|
int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnz[] = {3, 3, 3};
|
|
int rowadr[] = {0, 3, 6};
|
|
|
|
mjtNum matT[] = {1, 1, 4, 2, 3, 4, 2, 4, 4};
|
|
int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnzT[] = {3, 3, 3};
|
|
int rowadrT[] = {0, 3, 6};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, nullptr, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
nullptr, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(69, 77, 80, 77, 99, 108, 80, 108, 120));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
|
|
// 1 2 3
|
|
// M = 2 3 2
|
|
// 3 1 1
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 2, 3, 2, 3, 2, 3, 1, 1};
|
|
int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnz[] = {3, 3, 3};
|
|
int rowadr[] = {0, 3, 6};
|
|
|
|
mjtNum matT[] = {1, 2, 3, 2, 3, 1, 3, 2, 1};
|
|
int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
|
|
int rownnzT[] = {3, 3, 3};
|
|
int rowadrT[] = {0, 3, 6};
|
|
int rowsuperT[] = {2, 1, 0};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {1, 2, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(18, 17, 14, 17, 23, 19, 14, 19, 18));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
|
|
// 1 1 1
|
|
// M = 0 0 0
|
|
// 0 3 3
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 1, 1, 3, 3};
|
|
int colind[] = {0, 1, 2, 1, 2};
|
|
int rownnz[] = {3, 0, 2};
|
|
int rowadr[] = {0, 3, 3};
|
|
|
|
mjtNum matT[] = {1, 1, 3, 1, 3};
|
|
int colindT[] = {0, 0, 2, 0, 2};
|
|
int rownnzT[] = {1, 2, 2};
|
|
int rowadrT[] = {0, 1, 3};
|
|
int rowsuperT[] = {0, 1, 0};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0};
|
|
int diagindH[] = {0, 0, 0};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 3, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 3);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(1, 1, 1, 1, 10, 10, 1, 10, 10));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
|
|
EXPECT_THAT(rownnzH, ElementsAre(3, 3, 3));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 3, 6));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
|
|
// 1 1 1 1
|
|
// M = 0 0 0 0
|
|
// 0 0 3 3
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 1, 1, 1, 3, 3};
|
|
int colind[] = {0, 1, 2, 3, 2, 3};
|
|
int rownnz[] = {4, 0, 2};
|
|
int rowadr[] = {0, 4, 4};
|
|
|
|
mjtNum matT[] = {1, 1, 1, 3, 1, 3};
|
|
int colindT[] = {0, 0, 0, 2, 0, 2};
|
|
int rownnzT[] = {1, 1, 2, 2};
|
|
int rowadrT[] = {0, 1, 2, 4};
|
|
int rowsuperT[] = {1, 0, 1, 0};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0, 0};
|
|
int diagindH[] = {0, 0, 0, 0};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 4, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 4);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 4, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data, diagindH);
|
|
|
|
EXPECT_THAT(matH,
|
|
ElementsAre(1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 10, 10, 1, 1, 10, 10));
|
|
EXPECT_THAT(colindH,
|
|
ElementsAre(0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3, 0, 1, 2, 3));
|
|
EXPECT_THAT(rownnzH, ElementsAre(4, 4, 4, 4));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 4, 8, 12));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
|
|
// 1 1 0 0 0
|
|
// M = 1 1 0 0 0
|
|
// 1 1 0 0 0
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 1, 1, 1, 1, 1};
|
|
int colind[] = {0, 1, 0, 1, 0, 1};
|
|
int rownnz[] = {2, 2, 2};
|
|
int rowadr[] = {0, 2, 4};
|
|
|
|
mjtNum matT[] = {1, 1, 1, 1, 1, 1};
|
|
int colindT[] = {0, 1, 2, 0, 1, 2};
|
|
int rownnzT[] = {3, 3, 0, 0, 0};
|
|
int rowadrT[] = {0, 3, 6, 6, 6};
|
|
int rowsuperT[] = {1, 0, 2, 1, 0};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0, 0, 0};
|
|
int diagindH[] = {0, 0, 0, 0, 0};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 5, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4, 4, 4));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 5);
|
|
mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 5, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data, diagindH);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(3, 3, 0, 0, 0, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0));
|
|
EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 0,
|
|
3, 0, 0, 0, 0, 4, 0, 0, 0, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 1, 1, 1));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 5, 10, 15, 20));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
|
|
// M = 1 1 1 1 2 2 2
|
|
|
|
mjModel* model = LoadModelFromString("<mujoco/>");
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 1, 1, 1, 2, 2, 2};
|
|
int colind[] = {0, 1, 2, 3, 4, 5, 6};
|
|
int rownnz[] = {7};
|
|
int rowadr[] = {0};
|
|
|
|
mjtNum matT[] = {1, 1, 1, 1, 2, 2, 2};
|
|
int colindT[] = {0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzT[] = {1, 1, 1, 1, 1, 1, 1};
|
|
int rowadrT[] = {0, 1, 2, 3, 4, 5, 6};
|
|
int rowsuperT[] = {3, 2, 1, 0, 2, 1, 0};
|
|
|
|
mjtNum matH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int colindH[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
|
int rownnzH[] = {0, 0, 0, 0, 0, 0, 0};
|
|
int rowadrH[] = {0, 0, 0, 0, 0, 0, 0};
|
|
int diagindH[] = {0, 0, 0, 0, 0, 0, 0};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseCount(rownnzH, rowadrH, 7, rownnz, rowadr, colind,
|
|
rownnzT, rowadrT, colindT, rowsuperT, data, 1);
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
|
|
|
|
// test computation
|
|
mju_sqrMatTDUncompressedInit(rowadrH, 7);
|
|
mju_sqrMatTDSparse(matH, mat, matT, nullptr, 1, 7, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, nullptr, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data, diagindH);
|
|
|
|
EXPECT_THAT(
|
|
matH, ElementsAre(1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2,
|
|
2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 4, 4, 4, 2, 2, 2,
|
|
2, 4, 4, 4, 2, 2, 2, 2, 4, 4, 4));
|
|
EXPECT_THAT(colindH,
|
|
ElementsAre(0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3,
|
|
4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0,
|
|
1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6));
|
|
|
|
EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
|
|
EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
|
|
int nr = 2;
|
|
int nc = 3;
|
|
mjtNum mat[] = {1, 2, 0,
|
|
0, 3, 4};
|
|
|
|
mjtNum mat_sparse[4];
|
|
int rownnz[2];
|
|
int rowadr[2];
|
|
int colind[4];
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 4);
|
|
|
|
// multiply: res = mat' * vec
|
|
mjtNum vec[] = {5, 6};
|
|
mjtNum res[3];
|
|
mju_mulMatTVecSparse(res, mat_sparse, vec, nr, nc, rownnz, rowadr, colind);
|
|
|
|
EXPECT_THAT(AsVector(res, 3), ElementsAre(5, 28, 24));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuAddToSymSparse) {
|
|
// 1 2 4
|
|
// M = 2 3 0
|
|
// 4 0 5
|
|
|
|
// only lower triangle represented
|
|
mjtNum mat[] = {1, 2, 3, 4, 5};
|
|
int colind[] = {0, 0, 1, 0, 2};
|
|
int rownnz[] = {1, 2, 2};
|
|
int rowadr[] = {0, 1, 3};
|
|
|
|
// 0 0 0
|
|
// A = 5 4 2
|
|
// 4 3 2
|
|
mjtNum A[] = {0, 0, 0,
|
|
5, 4, 2,
|
|
4, 3, 2};
|
|
|
|
mju_addToSymSparse(A, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/1);
|
|
EXPECT_THAT(AsVector(A, 9), ElementsAre(1, 2, 4,
|
|
7, 7, 2,
|
|
8, 3, 7));
|
|
|
|
// same as A
|
|
mjtNum B[] = {0, 0, 0,
|
|
5, 4, 2,
|
|
4, 3, 2};
|
|
|
|
mju_addToSymSparse(B, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/0);
|
|
EXPECT_THAT(AsVector(B, 9), ElementsAre(1, 0, 0,
|
|
7, 7, 2,
|
|
8, 3, 7));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
|
|
constexpr int n = 4;
|
|
constexpr int nnz = 9;
|
|
|
|
mjtNum mat[n*n] = {1, 0, 0, 0,
|
|
0, 2, 0, 0,
|
|
3, 0, 4, 0,
|
|
5, 6, 7, 8};
|
|
|
|
// dense, full matrix
|
|
mjtNum sym[n*n] = {1, 0, 3, 5,
|
|
0, 2, 0, 6,
|
|
3, 0, 4, 7,
|
|
5, 6, 7, 8};
|
|
|
|
mjtNum mat_sparse[nnz];
|
|
int rownnz[n];
|
|
int rowadr[n];
|
|
int colind[nnz];
|
|
mju_dense2sparse(mat_sparse, mat, n, n, rownnz, rowadr, colind, nnz);
|
|
|
|
// multiply: res = (mat + strict_upper(mat')) * vec
|
|
mjtNum vec[n] = {4, 3, 2, 1};
|
|
mjtNum res[n];
|
|
mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, colind);
|
|
|
|
// dense multiply
|
|
mjtNum res2[n];
|
|
mju_mulMatVec(res2, sym, vec, n, n);
|
|
|
|
for (int i=0; i < n; i++) {
|
|
EXPECT_EQ(res[i], res2[i]);
|
|
}
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuDenseToSparse) {
|
|
int nr = 2;
|
|
int nc = 2;
|
|
mjtNum mat[] = {1, 2,
|
|
0, 3};
|
|
|
|
mjtNum mat_sparse[4];
|
|
int rownnz[2];
|
|
int rowadr[2];
|
|
int colind[4];
|
|
|
|
// nnz == number of non-zeros
|
|
int status3 =
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 3);
|
|
|
|
EXPECT_EQ(status3, 0);
|
|
|
|
// nnz > number of non-zeros
|
|
int status4 =
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 4);
|
|
|
|
EXPECT_EQ(status4, 0);
|
|
|
|
// nnz < number of non-zeros
|
|
int status2 =
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 2);
|
|
|
|
EXPECT_EQ(status2, 1);
|
|
|
|
// nnz == 0
|
|
int status0 =
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 0);
|
|
|
|
EXPECT_EQ(status0, 1);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MergeSorted) {
|
|
const int chain1_a[] = {1, 2, 3};
|
|
const int chain2_a[] = {};
|
|
int merged_a[3];
|
|
int n1 = 3;
|
|
int n2 = 0;
|
|
EXPECT_EQ(mj_mergeSorted(merged_a, chain1_a, n1, chain2_a, n2), 3);
|
|
EXPECT_THAT(merged_a, ElementsAre(1, 2, 3));
|
|
|
|
const int chain1_b[] = {1, 3, 5, 7, 8};
|
|
const int chain2_b[] = {2, 4, 5, 6, 8};
|
|
int merged_b[8];
|
|
n1 = 5;
|
|
n2 = 5;
|
|
EXPECT_EQ(mj_mergeSorted(merged_b, chain1_b, n1, chain2_b, n2), 8);
|
|
EXPECT_THAT(merged_b, ElementsAre(1, 2, 3, 4, 5, 6, 7, 8));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, BlockDiag) {
|
|
// 4x5 matrix with 3 blocks
|
|
constexpr int nr = 4;
|
|
constexpr int nc = 5;
|
|
const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0,
|
|
0, 0, 3, 4, 0,
|
|
0, 0, 5, 6, 0,
|
|
0, 0, 0, 0, 7};
|
|
|
|
// block structure
|
|
constexpr int nb = 3;
|
|
const int block_nr[nb] = {1, 2, 1};
|
|
const int block_nc[nb] = {2, 2, 1};
|
|
const int block_r[nb] = {0, 1, 3};
|
|
const int block_c[nb] = {0, 2, 4};
|
|
|
|
// test with identity permutations
|
|
const int perm_r[nr] = {0, 1, 2, 3};
|
|
const int perm_c[nc] = {0, 1, 2, 3, 4};
|
|
mjtNum res[nr * nc] = {0};
|
|
mju_blockDiag(res, mat, nc, nc, nb,
|
|
perm_r, perm_c,
|
|
block_nr, block_nc,
|
|
block_r, block_c);
|
|
EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0,
|
|
3, 4, 5, 6, 0,
|
|
0, 0, 0, 0, 0,
|
|
7, 0, 0, 0, 0));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, BlockDiagPerm) {
|
|
// 4x5 matrix with 3 blocks
|
|
constexpr int nr = 4;
|
|
constexpr int nc = 5;
|
|
const mjtNum mat[nr * nc] = {
|
|
1, 2, 0, 0, 0,
|
|
0, 0, 3, 4, 0,
|
|
0, 0, 5, 6, 0,
|
|
0, 0, 0, 0, 7
|
|
};
|
|
|
|
// block structure
|
|
constexpr int nb = 3;
|
|
const int block_nr[nb] = {1, 2, 1};
|
|
const int block_nc[nb] = {2, 2, 1};
|
|
const int block_r[nb] = {0, 1, 3};
|
|
const int block_c[nb] = {0, 2, 4};
|
|
|
|
// scatter mat into mat_p
|
|
const int perm_r[nr] = {1, 3, 2, 0};
|
|
const int perm_c[nc] = {2, 0, 4, 3, 1};
|
|
mjtNum mat_p[nr * nc];
|
|
PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
|
|
|
|
// test with permutation
|
|
mjtNum res[nr * nc] = {0};
|
|
mju_blockDiag(res, mat_p, nc, nc, nb,
|
|
perm_r, perm_c,
|
|
block_nr, block_nc,
|
|
block_r, block_c);
|
|
EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0,
|
|
3, 4, 5, 6, 0,
|
|
0, 0, 0, 0, 0,
|
|
7, 0, 0, 0, 0));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, BlockDiagLessCols) {
|
|
// 4x5 matrix with 3 blocks
|
|
constexpr int nr = 4;
|
|
constexpr int nc = 5;
|
|
const mjtNum mat[nr * nc] = {
|
|
1, 2, 0, 0, 0,
|
|
0, 0, 3, 4, 0,
|
|
0, 0, 5, 6, 0,
|
|
0, 0, 0, 0, 7
|
|
};
|
|
|
|
// block structure (ignore middle block)
|
|
constexpr int nb = 2;
|
|
const int block_nr[nb] = {1, 1};
|
|
const int block_nc[nb] = {2, 1};
|
|
const int block_r[nb] = {0, 3};
|
|
const int block_c[nb] = {0, 4};
|
|
|
|
// scatter mat into mat_p
|
|
const int perm_r[nr] = {1, 3, 2, 0};
|
|
const int perm_c[nc] = {2, 0, 4, 3, 1};
|
|
mjtNum mat_p[nr * nc];
|
|
PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
|
|
|
|
// test with permutation and less columns (ignore middle block)
|
|
constexpr int nc_res = 3;
|
|
mjtNum res2[nr * nc_res] = {0};
|
|
mju_blockDiag(res2, mat_p, nc, nc_res, nb,
|
|
perm_r, perm_c,
|
|
block_nr, block_nc,
|
|
block_r, block_c);
|
|
EXPECT_THAT(res2, ElementsAre(1, 2, 0,
|
|
0, 0, 0,
|
|
0, 0, 0,
|
|
7, 0, 0));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, BlockDiagSparse) {
|
|
// 4x5 matrix with 3 blocks
|
|
constexpr int nr = 4;
|
|
constexpr int nc = 5;
|
|
const mjtNum mat[nr * nc] = {
|
|
1, 2, 0, 0, 0,
|
|
0, 0, 3, 4, 0,
|
|
0, 0, 5, 6, 0,
|
|
0, 0, 0, 0, 7
|
|
};
|
|
constexpr int nnz = 7;
|
|
|
|
// block structure
|
|
constexpr int nb = 3;
|
|
const int block_r[nb] = {0, 1, 3};
|
|
const int block_c[nb] = {0, 2, 4};
|
|
|
|
// convert to sparse
|
|
int rownnz[nr];
|
|
int rowadr[nr];
|
|
int colind[nnz];
|
|
mjtNum mat_sparse[nnz];
|
|
mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, nnz);
|
|
|
|
// test with identity permutations
|
|
const int perm_r[nr] = {0, 1, 2, 3};
|
|
const int perm_c[nc] = {0, 1, 2, 3, 4};
|
|
int res_rownnz[nr];
|
|
int res_rowadr[nr];
|
|
int res_colind[nnz];
|
|
mjtNum res[nnz];
|
|
mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind,
|
|
mat_sparse, rownnz, rowadr, colind, nr, nb,
|
|
perm_r, perm_c,
|
|
block_r, block_c, nullptr, nullptr);
|
|
mjtNum dense_res[nr * nc];
|
|
mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
|
|
EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0,
|
|
3, 4, 0, 0, 0,
|
|
5, 6, 0, 0, 0,
|
|
7, 0, 0, 0, 0));
|
|
|
|
// permute mat into mat_p (scatter rows, gather columns)
|
|
const int perm_r2[nr] = {3, 1, 0, 2};
|
|
const int perm_c2[nc] = {4, 0, 2, 1, 3};
|
|
mjtNum mat_p[nr*nc];
|
|
PermuteMat(mat_p, mat, nr, nc, perm_r2, perm_c2, true, false);
|
|
mju_dense2sparse(mat_sparse, mat_p, nr, nc, rownnz, rowadr, colind, nnz);
|
|
|
|
// test with permutation
|
|
mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind,
|
|
mat_sparse, rownnz, rowadr, colind, nr, nb,
|
|
perm_r2, perm_c2,
|
|
block_r, block_c, nullptr, nullptr);
|
|
mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
|
|
EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0,
|
|
3, 4, 0, 0, 0,
|
|
5, 6, 0, 0, 0,
|
|
7, 0, 0, 0, 0));
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, PermuteMat) {
|
|
const mjtNum mat[] = {1, 2, 0, 0,
|
|
0, 0, 3, 4,
|
|
0, 0, 5, 6};
|
|
const int perm_r[] = {2, 0, 1};
|
|
const int perm_c[] = {3, 2, 0, 1};
|
|
mjtNum gather[3 * 4];
|
|
PermuteMat(gather, mat, 3, 4, perm_r, perm_c, false, false);
|
|
EXPECT_THAT(gather, ElementsAre(6, 5, 0, 0,
|
|
0, 0, 1, 2,
|
|
4, 3, 0, 0));
|
|
mjtNum scatter[3 * 4];
|
|
PermuteMat(scatter, gather, 3, 4, perm_r, perm_c, true, true);
|
|
EXPECT_THAT(scatter, ElementsAre(1, 2, 0, 0,
|
|
0, 0, 3, 4,
|
|
0, 0, 5, 6));
|
|
mjtNum mixed[3 * 4];
|
|
PermuteMat(mixed, mat, 3, 4, perm_r, perm_c, true, false);
|
|
EXPECT_THAT(mixed, ElementsAre(4, 3, 0, 0,
|
|
6, 5, 0, 0,
|
|
0, 0, 1, 2));
|
|
mjtNum mixed_back[3 * 4];
|
|
PermuteMat(mixed_back, mixed, 3, 4, perm_r, perm_c, false, true);
|
|
EXPECT_THAT(mixed_back, ElementsAre(1, 2, 0, 0,
|
|
0, 0, 3, 4,
|
|
0, 0, 5, 6));
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|