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Verified Commit 7db02b23 authored by Sébastien Villemot's avatar Sébastien Villemot
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Block decomposition: fix sparse indices of static Jacobian when mfs > 0

parent 9013a5cb
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...@@ -687,7 +687,8 @@ StaticModel::computeChainRuleJacobian() ...@@ -687,7 +687,8 @@ StaticModel::computeChainRuleJacobian()
{ {
auto &[eq, var, lag] { indices }; auto &[eq, var, lag] { indices };
assert(lag == 0); assert(lag == 0);
blocks_jacobian_sparse_column_major_order[blk].emplace(pair{eq, var}, d1); if (eq >= nb_recursives && var >= nb_recursives)
blocks_jacobian_sparse_column_major_order[blk].emplace(pair{eq-nb_recursives, var-nb_recursives}, d1);
} }
blocks_jacobian_sparse_colptr[blk] = computeCSCColPtr(blocks_jacobian_sparse_column_major_order[blk], size); blocks_jacobian_sparse_colptr[blk] = computeCSCColPtr(blocks_jacobian_sparse_column_major_order[blk], size);
} }
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