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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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src/engine/engine_io.c
+4 -3
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@@ -1428,9 +1428,10 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
// clear solver diagnostics
memset(d->warning, 0, mjNWARNING*sizeof(mjWarningStat));
memset(d->timer, 0, mjNTIMER*sizeof(mjTimerStat));
memset(d->solver, 0, mjNSOLVER*sizeof(mjSolverStat));
d->solver_iter = 0;
d->solver_nnz = 0;
memset(d->solver, 0, mjNSOLVER*mjNISLAND*sizeof(mjSolverStat));
d->solver_nisland = 0;
mju_zeroInt(d->solver_niter, mjNISLAND);
mju_zeroInt(d->solver_nnz, mjNISLAND);
mju_zero(d->solver_fwdinv, 2);
// clear collision diagnostics