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Represent only the lower triangle in Newton solver's reduced dof-dof matrix.

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PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
This commit is contained in:
Yuval Tassa
2025-01-06 04:58:06 -08:00
committed by Copybara-Service
parent ee6f4837f3
commit 7eb8231fda
11 changed files with 112 additions and 76 deletions
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test/engine/engine_solver_test.cc
+3 -2
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@@ -61,8 +61,9 @@ static const char* const kIlslandEfcPath =
// compare accelerations produced by CG solver with and without islands
TEST_F(SolverTest, IslandsEquivalent) {
const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
model->opt.solver = mjSOL_CG; // use CG solver
model->opt.tolerance = 0; // set tolerance to 0
model->opt.enableflags &= ~mjENBL_ISLAND; // disable islands