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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_print.c
+25 -16
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@@ -837,24 +837,33 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
// SOLVER STAT
if (d->solver_iter) {
if (d->nefc) {
fprintf(fp, "SOLVER STAT\n");
fprintf(fp, " solver_iter = %d\n", d->solver_iter);
fprintf(fp, " solver_nnz = %d\n", d->solver_nnz);
for (int i=0; i < mjMIN(mjNSOLVER, d->solver_iter); i++) {
fprintf(fp, " %d: improvement = ", i);
fprintf(fp, float_format, d->solver[i].improvement);
fprintf(fp, " gradient = ");
fprintf(fp, float_format, d->solver[i].gradient);
fprintf(fp, " lineslope = ");
fprintf(fp, float_format, d->solver[i].lineslope);
fprintf(fp, "\n");
fprintf(fp, " nactive = %d nchange = %d neval = %d nupdate = %d\n",
d->solver[i].nactive, d->solver[i].nchange,
d->solver[i].neval, d->solver[i].nupdate);
fprintf(fp, " solver_nisland = %d\n", d->solver_nisland);
printVector(" solver_fwdinv = ", d->solver_fwdinv, 2, fp, float_format);
int nisland_stat = mjMIN(d->solver_nisland, mjNISLAND);
for (int island=0; island < nisland_stat; island++) {
int niter_stat = mjMIN(mjNSOLVER, d->solver_niter[island]);
if (niter_stat) {
fprintf(fp, " ISLAND %d\n", island);
fprintf(fp, " solver_niter = %d\n", d->solver_niter[island]);
fprintf(fp, " solver_nnz = %d\n", d->solver_nnz[island]);
for (int i=0; i < niter_stat; i++) {
mjSolverStat* stat = d->solver + island*mjNSOLVER + i;
fprintf(fp, " %d: improvement = ", i);
fprintf(fp, float_format, stat->improvement);
fprintf(fp, " gradient = ");
fprintf(fp, float_format, stat->gradient);
fprintf(fp, " lineslope = ");
fprintf(fp, float_format, stat->lineslope);
fprintf(fp, "\n");
fprintf(fp, " nactive = %d nchange = %d neval = %d nupdate = %d\n",
stat->nactive, stat->nchange,
stat->neval, stat->nupdate);
}
fprintf(fp, "\n");
}
}
printVector("solver_fwdinv = ", d->solver_fwdinv, 2, fp, float_format);
fprintf(fp, "\n");
}
printVector("ENERGY = ", d->energy, 2, fp, float_format);