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

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Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
This commit is contained in:
Google DeepMind
2023-09-06 12:02:11 -07:00
committed by Copybara-Service
parent 48d0bfde44
commit 040d3efce2
13 changed files with 61 additions and 19 deletions
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src/xml/xml_native_writer.cc
+2
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@@ -793,6 +793,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttr(section, "apirate", 1, &model->option.apirate, &opt.apirate);
WriteAttr(section, "impratio", 1, &model->option.impratio, &opt.impratio);
WriteAttr(section, "tolerance", 1, &model->option.tolerance, &opt.tolerance);
WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);
WriteAttr(section, "noslip_tolerance", 1, &model->option.noslip_tolerance, &opt.noslip_tolerance);
WriteAttr(section, "mpr_tolerance", 1, &model->option.mpr_tolerance, &opt.mpr_tolerance);
WriteAttr(section, "gravity", 3, model->option.gravity, opt.gravity);
@@ -816,6 +817,7 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttrKey(section, "solver", solver_map, solver_sz,
model->option.solver, opt.solver);
WriteAttrInt(section, "iterations", model->option.iterations, opt.iterations);
WriteAttrInt(section, "ls_iterations", model->option.ls_iterations, opt.ls_iterations);
WriteAttrInt(section, "noslip_iterations", model->option.noslip_iterations, opt.noslip_iterations);
WriteAttrInt(section, "mpr_iterations", model->option.mpr_iterations, opt.mpr_iterations);
WriteAttrInt(section, "sdf_iterations", model->option.sdf_iterations, opt.sdf_iterations);