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Add island support to Newton solver

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PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
This commit is contained in:
Yuval Tassa
2025-05-14 04:19:46 -07:00
committed by Copybara-Service
parent fa95fe0c59
commit 1165018f71
3 changed files with 28 additions and 12 deletions
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src/engine/engine_solver.c
+7 -1
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@@ -1058,7 +1058,6 @@ static void CGupdateGradient(mjCGContext* ctx, int flg_Newton) {
}
// Newton: Mgrad = H \ grad
// TODO: b/295296178 - add island support to Newton solver
if (flg_Newton) {
if (ctx->is_sparse) {
mju_cholSolveSparse(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L),
@@ -2042,3 +2041,10 @@ void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter) {
void mj_solNewton(const mjModel* m, mjData* d, int maxiter) {
mj_solCGNewton(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/1);
}
// Newton entry point (one island)
void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter) {
mj_solCGNewton(m, d, island, maxiter, /*flg_Newton=*/1);
}