Remove cached triplet vector reservation (#675)

SleipnirGroup · Jan 8, 2025 · fb0c46d · fb0c46d
1 parent e751c50
commit fb0c46d
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Showing 7 changed files with 38 additions and 41 deletions.
diff --git a/cart-pole-scalability-results-casadi.csv b/cart-pole-scalability-results-casadi.csv
@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-100,47.153,1914.93
-150,64.018,3802.23
-200,96.311,4964.47
-250,131.245,7329.57
-300,174.603,9585.46
+100,37.982,1817.05
+150,62.631,3538.11
+200,93.572,4730.58
+250,131.368,6979.29
+300,171.915,9165.62
diff --git a/cart-pole-scalability-results-sleipnir.csv b/cart-pole-scalability-results-sleipnir.csv
@@ -1,6 +1,6 @@
 Samples,Setup time (ms),Solve time (ms)
-100,2.002,475.82
-150,1.116,1464.44
-200,1.553,2476.12
-250,2.016,3191.24
-300,3.198,4993
+100,1.811,446.437
+150,1.107,1375
+200,1.576,2232.37
+250,2.043,2974.71
+300,2.973,4796.49
diff --git a/cart-pole-scalability-results.png b/cart-pole-scalability-results.png
diff --git a/flywheel-scalability-results-casadi.csv b/flywheel-scalability-results-casadi.csv
@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,2.896,25.332
-200,3.603,38.506
-300,5.34,55.479
-400,7.125,76.048
-500,8.748,102.399
-600,10.528,123.726
-700,12.087,145.943
-800,14.18,167.021
-900,17.655,190.359
-1000,19.321,217.394
-2000,36.311,542.894
-3000,55.684,1041.77
-4000,74.973,1566.55
-5000,91.793,2192.74
+100,2.26,21.589
+200,3.68,37.663
+300,5.473,55.8
+400,7.321,76.244
+500,9.066,102.233
+600,10.995,123.434
+700,12.595,145.869
+800,14.305,165.89
+900,19.464,187.642
+1000,20.532,207.349
+2000,38.611,540.584
+3000,58.263,1004.7
+4000,75.814,1520.31
+5000,93.927,2135.78
diff --git a/flywheel-scalability-results-sleipnir.csv b/flywheel-scalability-results-sleipnir.csv
@@ -1,15 +1,15 @@
 Samples,Setup time (ms),Solve time (ms)
-100,0.246,2.175
-200,0.103,4.39
-300,0.157,9.2
-400,0.225,10.752
-500,0.299,15.764
-600,0.365,21.53
-700,0.44,20.887
-800,0.562,24.153
-900,0.523,28.516
-1000,0.615,31.44
-2000,1.515,68.652
-3000,1.943,137.328
-4000,2.887,227.069
-5000,3.902,296.625
+100,0.252,2.696
+200,0.102,4.051
+300,0.16,6.284
+400,0.222,8.799
+500,0.277,13.618
+600,0.349,16.677
+700,0.408,17.603
+800,0.471,21.988
+900,0.528,23.504
+1000,0.588,28.041
+2000,1.99,68.67
+3000,2.049,123.864
+4000,2.992,185.715
+5000,4.542,294.688
diff --git a/flywheel-scalability-results.png b/flywheel-scalability-results.png
diff --git a/include/sleipnir/autodiff/Jacobian.hpp b/include/sleipnir/autodiff/Jacobian.hpp
@@ -43,9 +43,6 @@ class SLEIPNIR_DLLEXPORT Jacobian {
       m_graphs.emplace_back(variable.expr);
     }
 
-    // Reserve triplet space for 99% sparsity
-    m_cachedTriplets.reserve(m_variables.Rows() * m_wrt.Rows() * 0.01);
-
     for (int row = 0; row < m_variables.Rows(); ++row) {
       if (m_variables(row).Type() == ExpressionType::kLinear) {
         // If the row is linear, compute its gradient once here and cache its