Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Cholesky decomposition: mat = L*L'; return rank
+MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
+
+// Cholesky solve
+MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
+
+// Cholesky rank-one update: L*L' +/- x*x'; return rank
+MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
+
+// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
+//  mat must have uncompressed layout; rownnz is modified to end at diagonal
+int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
+                         int* rownnz, int* rowadr, int* colind,
+                         mjData* d);
+
+// sparse reverse-order Cholesky solve
+void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
+                         const int* rownnz, const int* rowadr, const int* colind);
+
+// sparse reverse-order Cholesky rank-one update: L'*L +/i x*x'; return rank
+//  x is sparse, change in sparsity pattern of mat is not allowed
+int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus,
+                         int* rownnz, int* rowadr, int* colind, int x_nnz, int* x_ind,
+                         mjData* d);
+
+// eigenvalue decomposition of symmetric 3x3 matrix
+MJAPI int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum quat[4], const mjtNum mat[9]);
+
+// solve QCQP in 2 dimensions:
+//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
+// return 0 if unconstrained, 1 if constrained
+MJAPI int mju_QCQP2(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r);
+
+// solve QCQP in 3 dimensions:
+//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
+// return 0 if unconstrained, 1 if constrained
+MJAPI int mju_QCQP3(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r);
+
+// solve QCQP in n<=5 dimensions:
+//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
+// return 0 if unconstrained, 1 if constrained
+int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r, int n);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_