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[LinearAlgebra] Various bugfixes and add unit tests #5989

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[LinearAlgebra] Various bugfixes and add unit tests #5989

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acadc26
fix substraction operation (copy paste?)
fredroy Feb 27, 2026
6558a85
correct test in CRS::resizeBlock
fredroy Feb 27, 2026
0022ecc
fix access indexing in blockfullmatrix
fredroy Feb 27, 2026
37b76b1
add unit tests (with expected fails from clear())
fredroy Mar 3, 2026
d3020df
fix for clear()
fredroy Mar 3, 2026
e09d0e8
add unit tests for CompressedRowSparseMatrixGeneric
fredroy Mar 3, 2026
ff72d63
add unit tests for CompressedRowSparseMatrixMechanical
fredroy Mar 3, 2026
f905d32
CRSM, alwayymmetric : fix typo in code and subsequent compilation err…
fredroy Mar 3, 2026
db4c1d7
add AddMultTranspose with symmetric matrix (not possible before)
fredroy Mar 3, 2026
bec9987
CompressedRowSparseMatrixConstraint: fix bug when calling cbegin/cend…
fredroy Mar 3, 2026
893c1b3
add more unit tests for CompressedRowSparseMatrixConstraint
fredroy Mar 3, 2026
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4 changes: 2 additions & 2 deletions Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -180,7 +180,7 @@ class BlockFullMatrix : public linearalgebra::BaseMatrix
Real r = 0;
for (Index j=0; j<BSIZE; ++j)
{
r += bloc(bi,bj)[i][j] * v[(bi + bj - 1)*BSIZE + j];
r += bloc(bi,bj)[i][j] * v[bj*BSIZE + j];
}
res[bi*BSIZE + i] = r;
}
Expand All @@ -191,7 +191,7 @@ class BlockFullMatrix : public linearalgebra::BaseMatrix
Real r = 0;
for (Index j=0; j<BSIZE; ++j)
{
r += bloc(bi,bj)[i][j] * v[(bi + bj - 1)*BSIZE + j];
r += bloc(bi,bj)[i][j] * v[bj*BSIZE + j];
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@bakpaul bakpaul Mar 5, 2026

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This was so wrong I don't understand how it worked previously. Is it used anywhere ?

}
res[bi*BSIZE + i] += r;
}
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2 changes: 1 addition & 1 deletion Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.inl
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Expand Up @@ -280,7 +280,7 @@ void BlockFullMatrix<N, T>::clearRowCol(Index i)
template<std::size_t N, typename T>
void BlockFullMatrix<N, T>::clear()
{
for (Index i=0; i<3*nBRow; ++i)
for (Index i=0; i<nBRow*nBCol; ++i)
data[i].clear();
}

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6 changes: 4 additions & 2 deletions Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h
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Expand Up @@ -454,14 +454,16 @@ class CompressedRowSparseMatrixConstraint : public sofa::linearalgebra::Compress
RowConstIterator cbegin() const
{
if constexpr(Policy::AutoCompress) const_cast<Matrix*>(this)->compress(); /// \warning this violates the const-ness of the method !
return RowConstIterator(this, 0);
return RowConstIterator(this,
this->rowIndex.empty() ? s_invalidIndex : 0);
}

/// Get the iterator corresponding to the end of the rows of blocks
RowConstIterator cend() const
{
if constexpr(Policy::AutoCompress) const_cast<Matrix*>(this)->compress(); /// \warning this violates the const-ness of the method !
return RowConstIterator(this, Index(this->rowIndex.size()));
return RowConstIterator(this,
this->rowIndex.empty() ? s_invalidIndex : Index(this->rowIndex.size()));
}

class RowWriteAccessor
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2 changes: 1 addition & 1 deletion Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixGeneric.h
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Expand Up @@ -279,7 +279,7 @@ public :

virtual void resizeBlock(Index nbBRow, Index nbBCol)
{
if (nBlockRow == nbBRow && nBlockRow == nbBCol)
if (nBlockRow == nbBRow && nBlockCol == nbBCol)
{
/// Just clear the matrix
for (Index i = 0; i < static_cast<Index>(colsValue.size()); ++i)
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4 changes: 2 additions & 2 deletions Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h
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Expand Up @@ -1141,9 +1141,9 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co
if constexpr (Policy::AutoCompress) const_cast<Matrix*>(this)->compress(); /// \warning this violates the const-ness of the method !
vresize( res, this->colBSize(), colSize() );

if constexpr (Policy::IsAlwaysSymetric) /// In symetric case this^T = this
if constexpr (Policy::IsAlwaysSymmetric) /// In symmetric case this^T = this
{
taddMul(res, vec);
taddMul<Real2>(res, vec);
return;
}

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4 changes: 2 additions & 2 deletions Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/SparseMatrix.h
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Expand Up @@ -357,9 +357,9 @@ class SparseMatrix : public linearalgebra::BaseMatrix
}

template<class Real2>
MatrixExpr< MatrixAddition< SparseMatrix<T>, SparseMatrix<Real2> > > operator-(const SparseMatrix<Real2>& m) const
MatrixExpr< MatrixSubtraction< SparseMatrix<T>, SparseMatrix<Real2> > > operator-(const SparseMatrix<Real2>& m) const
{
return MatrixExpr { MatrixAddition< SparseMatrix<T>, SparseMatrix<Real2> >(*this, m) };
return MatrixExpr { MatrixSubtraction< SparseMatrix<T>, SparseMatrix<Real2> >(*this, m) };
}

void swap(SparseMatrix<T>& m)
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