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Rejigged solver statistics in preparation for islanding.

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- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.

BEGIN_PUBLIC

Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.

- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.

END_PUBLIC

PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
This commit is contained in:
Yuval Tassa
2023-09-13 06:17:45 -07:00
committed by Copybara-Service
parent 8faf47dd16
commit 86d8b912f4
15 changed files with 3303 additions and 155 deletions
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doc/APIreference/APIglobals.rst
+9 -3
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@@ -450,9 +450,15 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
- The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
Determines the size of all ``mjModel.XXX_solimp`` fields.
* - ``mjNSOLVER``
- 1000
- The size of the preallocated array ``mjData.solver``. This is used to store diagnostic information about each
iteration of the constraint solver. The actual number of iterations is given by ``mjData.solver_iter``.
- 200
- The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used
to store diagnostic information about each iteration of the constraint solver.
The actual number of iterations is given by ``mjData.solver_iter``.
* - ``mjNISLAND``
- 20
- The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
used to store diagnostic information about each iteration of the constraint solver.
The actual number of islands for which the solver was run is given by ``mjData.nsolver_island``.
* - ``mjNGROUP``
- 6
- The number of geom, site, joint, tendon and actuator groups whose rendering can be enabled and disabled via