Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
87 lines
3.6 KiB
C
87 lines
3.6 KiB
C
// Copyright 2021 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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#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjtnum.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//------------------------------ sparse operations -------------------------------------------------
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// dot-product, first vector is sparse
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mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2,
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const int nnz1, const int* ind1);
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// dot-product, both vectors are sparse
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mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2,
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const int nnz1, const int* ind1,
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const int nnz2, const int* ind2);
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// convert matrix from dense to sparse
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void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
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int* rownnz, int* rowadr, int* colind);
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// convert matrix from sparse to dense
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void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
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const int* rownnz, const int* rowadr, const int* colind);
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// multiply sparse matrix and dense vector: res = mat * vec
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void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
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int nr, const int* rownnz, const int* rowadr,
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const int* colind, const int* rowsuper);
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// compress layout of sparse matrix
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void mju_compressSparse(mjtNum* mat, int nr, int nc,
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int* rownnz, int* rowadr, int* colind);
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// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
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int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
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int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
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mjtNum* buf, int* buf_ind);
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// incomplete combine sparse: dst = a*dst + b*src at common indices
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void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
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int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind);
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// transpose sparse matrix
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void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
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int* res_rownnz, int* res_rowadr, int* res_colind,
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const int* rownnz, const int* rowadr, const int* colind);
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// construct row supernodes
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void mju_superSparse(int nr, int* rowsuper,
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const int* rownnz, const int* rowadr, const int* colind);
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// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
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void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
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const mjtNum* diag, int nr, int nc,
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int* res_rownnz, int* res_rowadr, int* res_colind,
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const int* rownnz, const int* rowadr,
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const int* colind, const int* rowsuper,
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const int* rownnzT, const int* rowadrT,
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const int* colindT, const int* rowsuperT,
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mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
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