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Add mju_boxQP solving box-constrained quadratic programs.

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PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
This commit is contained in:
Yuval Tassa
2022-09-14 04:30:58 -07:00
committed by Copybara-Service
parent 04d44e1e0b
commit 8957976674
9 changed files with 898 additions and 2 deletions
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introspect/functions.py
+122
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@@ -6416,6 +6416,128 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Eigenvalue decomposition of symmetric 3x3 matrix.',
)),
('mju_boxQP',
FunctionDecl(
name='mju_boxQP',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
)),
('mju_boxQPmalloc',
FunctionDecl(
name='mju_boxQPmalloc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
),
doc='allocate heap memory for box-constrained Quadratic Program as in mju_boxQP, index, lower, and upper are optional free all pointers with mju_free()', # pylint: disable=line-too-long
)),
('mju_muscleGain',
FunctionDecl(
name='mju_muscleGain',