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Report nnz(J) for CG solver.

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PiperOrigin-RevId: 939806054
Change-Id: Icb2955511e33be046a4665fb39bce2546d6d4e3d
This commit is contained in:
Yuval Tassa
2026-06-29 06:48:27 -07:00
committed by Copybara-Service
parent e0bb2b0665
commit 7c706b273a
4 changed files with 4 additions and 4 deletions
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doc/includes/references.h
+1 -1
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@@ -97,7 +97,7 @@ typedef struct mjData_ {
// solver statistics // solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island int solver_nnz[mjNISLAND]; // number of nonzeros in solver matrix, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics // diagnostics
include/mujoco/mjdata.h
+1 -1
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@@ -121,7 +121,7 @@ typedef struct mjData_ {
// solver statistics // solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island int solver_nnz[mjNISLAND]; // number of nonzeros in solver matrix, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics // diagnostics
python/mujoco/introspect/structs.py
+1 -1
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@@ -5524,7 +5524,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'), inner_type=ValueType(name='int'),
extents=(20,), extents=(20,),
), ),
doc='number of nonzeros in Hessian or efc_AR, per island', doc='number of nonzeros in solver matrix, per island',
), ),
StructFieldDecl( StructFieldDecl(
name='solver_fwdinv', name='solver_fwdinv',
src/engine/engine_solver.c
+1 -1
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@@ -2474,7 +2474,7 @@ static void mj_solPrimal(const mjModel* m, mjData* d, int island, int maxiter, i
d->solver_nnz[island_stat] = nv*nv; d->solver_nnz[island_stat] = nv*nv;
} }
} else { } else {
d->solver_nnz[island_stat] = 0; d->solver_nnz[island_stat] = ctx.nJ;
} }
} }