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mju_boxQP only reads from the lower triangle of the input Hessian.

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- Before this change, an asymmetric Hessian would lead to solver failure. After this change the Hessian is symmetric by definition (upper triangle is ignored).
- API documentation was updated to reflect this contract.

PiperOrigin-RevId: 477135411
Change-Id: I60d011d36853afebac26c359771c217baf101360
This commit is contained in:
Yuval Tassa
2022-09-27 04:32:00 -07:00
committed by Copybara-Service
parent f433776c9b
commit a6b338db64
5 changed files with 42 additions and 4 deletions
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introspect/functions.py
+1 -1
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@@ -6524,7 +6524,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
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
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 only the lower triangles of H and R and are read from and written to, respectively the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
)),
('mju_boxQPmalloc',
FunctionDecl(