Yuval Tassa 7c6f519879 Remove legacy factorI/solveLD and clean up benchmarks/tests ...

Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers.
Updates factorI, solveLD, and inertia benchmarks to remove legacy targets
and only benchmark CSR.
Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM
instead of legacy solver.

PiperOrigin-RevId: 942507341
Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f

2026-07-04 08:34:30 -07:00

..

testdata

Refactor sparse Cholesky factorization into symbolic and numeric phases.

2025-12-19 06:11:55 -08:00

ccd_benchmark_test.cc

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

chol_benchmark_test.cc

Refactor mju_combineSparse to eliminate temporary buffers.

2026-04-20 03:10:18 -07:00

CMakeLists.txt

Refactor and speed up mj_crb and add a benchmark.

2025-10-06 10:54:01 -07:00

crb_benchmark_test.cc

Refactor and speed up mj_crb and add a benchmark.

2025-10-06 10:54:01 -07:00

engine_util_sparse_benchmark_test.cc

Cache benchmark data in engine_util_sparse_benchmark_test

2026-04-20 08:29:56 -07:00

engine_util_spatial_benchmark_test.cc

Add CMake entry for engine_util_spatial_benchmark_test.

2022-06-12 01:01:46 -07:00

factorI_benchmark_test.cc

Remove legacy factorI/solveLD and clean up benchmarks/tests

2026-07-04 08:34:30 -07:00

inertia_benchmark_test.cc

Remove legacy factorI/solveLD and clean up benchmarks/tests

2026-07-04 08:34:30 -07:00

iszero_benchmark_test.cc

Implement faster mju_isZeroByte.

2025-10-02 02:53:53 -07:00

parse_benchmark_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

run_ablation.py

Replace internal-only imports and comments that aren't valid externally.

2022-09-23 16:58:58 -07:00

solveLD_benchmark_test.cc

Remove legacy factorI/solveLD and clean up benchmarks/tests

2026-07-04 08:34:30 -07:00

sort_benchmark_test.cc

Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

2025-09-18 12:28:09 -07:00

sqrmat_benchmark_test.cc

2-3x speedup of sparse matrix squaring.

2026-04-15 07:19:41 -07:00

step_benchmark_test.cc

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

thread_performance_test.cc

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00