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Add island support to CG solver.

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Add island support to CG solver.

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PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
This commit is contained in:
Yuval Tassa
2023-09-15 05:46:35 -07:00
committed by Copybara-Service
parent 492b6a72ec
commit 2cc1205498
7 changed files with 394 additions and 106 deletions
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src/engine/engine_solver.h
+6
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@@ -18,6 +18,7 @@
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
//------------------------------ monolithic solvers ------------------------------------------------
// PGS solver
void mj_solPGS(const mjModel* m, mjData* d, int maxiter);
@@ -31,4 +32,9 @@ 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);
#endif // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_