Kyle Bayes
9924cce4b7
PiperOrigin-RevId: 521744893 Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
858 lines
26 KiB
C++
858 lines
26 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 "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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using ::testing::ElementsAre;
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using EngineUtilSparseTest = MujocoTest;
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TEST_F(EngineUtilSparseTest, MjuDot) {
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mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
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mjtNum b[] = {7, 0, 6, 0, 0, 5, 0, 0, 0, 4, 0, 0, 0, 3, 0, 0, 2, 0, 1};
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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), 7);
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EXPECT_EQ(mju_dotSparse(a, b, 2, i), 7 + 2*6);
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EXPECT_EQ(mju_dotSparse(a, b, 3, i), 7 + 2*6 + 3*5);
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EXPECT_EQ(mju_dotSparse(a, b, 4, i), 7 + 2*6 + 3*5 + 4*4);
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EXPECT_EQ(mju_dotSparse(a, b, 5, i), 7 + 2*6 + 3*5 + 4*4 + 5*3);
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EXPECT_EQ(mju_dotSparse(a, b, 6, i), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
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EXPECT_EQ(mju_dotSparse(a, b, 7, i), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
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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, rownnz,
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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, rownnz,
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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, rownnz,
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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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mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rownnz,
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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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}
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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, rownnz,
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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, rownnz,
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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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static constexpr char modelStr[] = R"(<mujoco/>)";
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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(modelStr);
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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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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, NULL, data);
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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, NULL, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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NULL, data);
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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, MjuSqrMatTDSparse2) {
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// 2 -1 1
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// M = 1 2 -1
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// 2 2 3
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mjModel* model = LoadModelFromString(modelStr);
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mjData* data = mj_makeData(model);
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mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
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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[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
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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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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, NULL, data);
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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, NULL, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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NULL, data);
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EXPECT_THAT(matH, ElementsAre(12, 0, 12, 0, 6, 3, 12, 3, 14));
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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, MjuSqrMatTDSparse3) {
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// 1 2 0
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// M = 0 3 0
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// 4 0 0
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mjModel* model = LoadModelFromString(modelStr);
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mjData* data = mj_makeData(model);
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mjtNum mat[] = {1, 2, 3, 4};
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int colind[] = {0, 1, 1, 0};
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int rownnz[] = {2, 1, 1};
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int rowadr[] = {0, 2, 3};
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mjtNum matT[] = {1, 4, 2, 3};
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int colindT[] = {0, 2, 0, 1};
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int rownnzT[] = {2, 2, 0};
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int rowadrT[] = {0, 2, 4};
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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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mjtNum diag[] = {2, 3, 4};
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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, NULL, data);
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EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
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EXPECT_THAT(rowadrH, ElementsAre(0, 2, 4));
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// test computation
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mju_sqrMatTDUncompressedInit(rowadrH, 3);
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mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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NULL, data);
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EXPECT_THAT(matH, ElementsAre(66, 4, 0, 4, 35, 0, 0, 0, 0));
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EXPECT_THAT(colindH, ElementsAre(0, 1, 0, 0, 1, 0, 0, 0, 0));
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EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0));
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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, MjuSqrMatTDSparse4) {
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// 1 0 2
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// M = 0 0 3
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// 4 0 0
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mjModel* model = LoadModelFromString(modelStr);
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mjData* data = mj_makeData(model);
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mjtNum mat[] = {1, 2, 3, 4};
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int colind[] = {0, 2, 2, 0};
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int rownnz[] = {2, 1, 1};
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int rowadr[] = {0, 2, 3};
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mjtNum matT[] = {1, 4, 2, 3};
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int colindT[] = {0, 2, 0, 1};
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int rownnzT[] = {2, 0, 2};
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int rowadrT[] = {0, 2, 2};
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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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mjtNum diag[] = {2, 3, 4};
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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, NULL, data);
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EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
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EXPECT_THAT(rowadrH, ElementsAre(0, 2, 2));
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// test computation
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mju_sqrMatTDUncompressedInit(rowadrH, 3);
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mju_sqrMatTDSparse(matH, mat, matT, diag, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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NULL, data);
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EXPECT_THAT(matH, ElementsAre(66, 4, 0, 0, 0, 0, 4, 35, 0));
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EXPECT_THAT(colindH, ElementsAre(0, 2, 0, 0, 0, 0, 0, 2, 0));
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EXPECT_THAT(rownnzH, ElementsAre(2, 0, 2));
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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, MjuSqrMatTDSparse5) {
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// 1 0 4
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// M = 0 0 0
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// 2 3 0
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mjModel* model = LoadModelFromString(modelStr);
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mjData* data = mj_makeData(model);
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mjtNum mat[] = {1, 4, 2, 3};
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int colind[] = {0, 2, 0, 1};
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int rownnz[] = {2, 0, 2};
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int rowadr[] = {0, 2, 2};
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mjtNum matT[] = {1, 2, 3, 4};
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int colindT[] = {0, 2, 2, 0};
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int rownnzT[] = {2, 1, 1};
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int rowadrT[] = {0, 2, 3};
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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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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, NULL, data);
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EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
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EXPECT_THAT(rowadrH, ElementsAre(0, 3, 5));
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// test computation
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mju_sqrMatTDUncompressedInit(rowadrH, 3);
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mju_sqrMatTDSparse(matH, mat, matT, NULL, 3, 3, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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NULL, data);
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EXPECT_THAT(matH, ElementsAre(5, 6, 4, 6, 9, 0, 4, 16, 0));
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EXPECT_THAT(colindH, ElementsAre(0, 1, 2, 0, 1, 0, 0, 2, 0));
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EXPECT_THAT(rownnzH, ElementsAre(3, 2, 2));
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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, MjuSqrMatTDSparse6) {
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// 1 0 2
|
|
// M = 0 2 0
|
|
// 0 0 3
|
|
|
|
mjModel* model = LoadModelFromString(modelStr);
|
|
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};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, NULL, data);
|
|
|
|
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, NULL, 3, 3, rownnzH, rowadrH, colindH,
|
|
rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
|
|
NULL, data);
|
|
|
|
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));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
|
|
// 1 2
|
|
// M = 0 3
|
|
// 4 0
|
|
|
|
mjModel* model = LoadModelFromString(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 2, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, NULL, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
NULL, data);
|
|
|
|
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(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {2, 3};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 2, 3, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, NULL, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
NULL, data);
|
|
|
|
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(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {2, 3, 4};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, NULL, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
NULL, data);
|
|
|
|
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 1 1
|
|
// M = 2 2 2
|
|
// 3 3 3
|
|
|
|
mjModel* model = LoadModelFromString(modelStr);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum mat[] = {1, 1, 1, 2, 2, 2, 3, 3, 3};
|
|
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, 1, 2, 3, 1, 2, 3};
|
|
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};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data);
|
|
|
|
EXPECT_THAT(matH, ElementsAre(14, 14, 14, 14, 14, 14, 14, 14, 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));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
|
|
// 1 1 1
|
|
// M = 0 0 0
|
|
// 0 3 3
|
|
|
|
mjModel* model = LoadModelFromString(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 3, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data);
|
|
|
|
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(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 4, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data);
|
|
|
|
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(modelStr);
|
|
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};
|
|
|
|
mjtNum diag[] = {1, 1, 1};
|
|
|
|
// test precount
|
|
mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 3, 5, rownnz, rowadr,
|
|
colind, rownnzT, rowadrT, colindT, rowsuperT, data);
|
|
|
|
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, NULL, rownnzT, rowadrT, colindT,
|
|
rowsuperT, data);
|
|
|
|
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, 0, 0, 0, 0, 0,
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
|
|
EXPECT_THAT(rownnzH, ElementsAre(2, 2, 0, 0, 0));
|
|
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(modelStr);
|
|
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,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int rownnzH[] = {0, 0, 0, 0, 0, 0, 0};
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int rowadrH[] = {0, 0, 0, 0, 0, 0, 0};
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// test precount
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mju_sqrMatTDSparseInit(rownnzH, rowadrH, mat, matT, 1, 7, rownnz, rowadr,
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colind, rownnzT, rowadrT, colindT, rowsuperT, data);
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EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
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EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
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// test computation
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mju_sqrMatTDUncompressedInit(rowadrH, 7);
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mju_sqrMatTDSparse(matH, mat, matT, NULL, 1, 7, rownnzH, rowadrH, colindH,
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rownnz, rowadr, colind, NULL, rownnzT, rowadrT, colindT,
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rowsuperT, data);
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EXPECT_THAT(
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matH, ElementsAre(1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2,
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2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 4, 4, 4, 2, 2, 2,
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2, 4, 4, 4, 2, 2, 2, 2, 4, 4, 4));
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EXPECT_THAT(colindH,
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ElementsAre(0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3,
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4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6, 0,
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1, 2, 3, 4, 5, 6, 0, 1, 2, 3, 4, 5, 6));
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|
|
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EXPECT_THAT(rownnzH, ElementsAre(7, 7, 7, 7, 7, 7, 7));
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EXPECT_THAT(rowadrH, ElementsAre(0, 7, 14, 21, 28, 35, 42));
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|
|
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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