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Add mjData.L, sparse Cholesky factor of Newton solver Hessian.

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PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
This commit is contained in:
Yuval Tassa
2024-10-08 10:12:10 -07:00
committed by Copybara-Service
parent 39af655c1e
commit b66da3d369
9 changed files with 99 additions and 21 deletions
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include/mujoco/mjxmacro.h
+13 -3
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@@ -680,7 +680,7 @@
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_PRIMAL \
#define MJDATA_ARENA_POINTERS_SOLVER \
X( int, efc_type, MJ_D(nefc), 1 ) \
X( int, efc_id, MJ_D(nefc), 1 ) \
X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
@@ -707,6 +707,14 @@
X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
X( int, efc_state, MJ_D(nefc), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_NEWTON \
X( int, L_rownnz, MJ_M(nv), 1 ) \
X( int, L_rowadr, MJ_M(nv), 1 ) \
X( int, L_colind, MJ_D(nnzL), 1 ) \
X( mjtNum, L, MJ_D(nnzL), 1 ) \
X( mjtNum, Lcone, MJ_D(nnzL), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
@@ -729,7 +737,8 @@
// array fields of mjData that live in d->arena
#define MJDATA_ARENA_POINTERS \
MJDATA_ARENA_POINTERS_CONTACT \
MJDATA_ARENA_POINTERS_PRIMAL \
MJDATA_ARENA_POINTERS_SOLVER \
MJDATA_ARENA_POINTERS_NEWTON \
MJDATA_ARENA_POINTERS_DUAL \
MJDATA_ARENA_POINTERS_ISLAND
@@ -747,12 +756,13 @@
X( int, maxuse_con ) \
X( int, maxuse_efc ) \
X( int, solver_nisland ) \
X( int, ncon ) \
X( int, ne ) \
X( int, nf ) \
X( int, nl ) \
X( int, nefc ) \
X( int, nnzJ ) \
X( int, ncon ) \
X( int, nnzL ) \
X( int, nisland ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )