Add island support to Newton solver

PiperOrigin-RevId: 758618486 Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
2025-05-14 04:19:46 -07:00
parent fa95fe0c59
commit 1165018f71
3 changed files with 28 additions and 12 deletions
@@ -32,9 +32,13 @@ void mj_solCG(const mjModel* m, mjData* d, int maxiter);
 // Newton solver
 void mj_solNewton(const mjModel* m, mjData* d, int maxiter);

+
 //------------------------------ per-island solvers ------------------------------------------------

 // CG solver
 void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter);

+// Newton entry point
+void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter);
+
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_