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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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include/mujoco/mjmodel.h
+2 -1
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@@ -41,7 +41,8 @@
#define mjNFLUID 12 // number of fluid interaction parameters
#define mjNREF 2 // number of solver reference parameters
#define mjNIMP 5 // number of solver impedance parameters
#define mjNSOLVER 1000 // size of mjData.solver_XXX arrays
#define mjNSOLVER 200 // size of one mjData.solver array
#define mjNISLAND 20 // number of mjData.solver arrays
//---------------------------------- enum types (mjt) ----------------------------------------------