Add options for controlling early termination criteria of CG/Newton linesearch.

Useful for performance tuning models. PiperOrigin-RevId: 563175078 Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
2023-09-06 12:02:11 -07:00
parent 48d0bfde44
commit 040d3efce2
13 changed files with 61 additions and 19 deletions
@@ -674,6 +674,7 @@ struct mjOption_ {                // physics options
  // solver parameters
  mjtNum impratio;                // ratio of friction-to-normal contact impedance
  mjtNum tolerance;               // main solver tolerance
+  mjtNum ls_tolerance;            // CG/Newton linesearch tolerance
  mjtNum noslip_tolerance;        // noslip solver tolerance
  mjtNum mpr_tolerance;           // MPR solver tolerance

@@ -696,6 +697,7 @@ struct mjOption_ {                // physics options
  int jacobian;                   // type of Jacobian (mjtJacobian)
  int solver;                     // solver algorithm (mjtSolver)
  int iterations;                 // maximum number of main solver iterations
+  int ls_iterations;              // maximum number of CG/Newton linesearch iterations
  int noslip_iterations;          // maximum number of noslip solver iterations
  int mpr_iterations;             // maximum number of MPR solver iterations
  int disableflags;               // bit flags for disabling standard features