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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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python/mujoco/functions.cc
+2 -2
View File
@@ -1441,7 +1441,7 @@ PYBIND11_MODULE(_functions, pymodule) {
data->nefc = 0;
data->contact = static_cast<raw::MjContact*>(data->arena);
#define X(type, name, nr, nc) data->name = nullptr;
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_SOLVER
MJDATA_ARENA_POINTERS_DUAL
#undef X
};
@@ -1469,7 +1469,7 @@ PYBIND11_MODULE(_functions, pymodule) {
throw FatalError("insufficient arena memory available"); \
}
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_SOLVER
if (mj_isDual(d.model().get())) {
MJDATA_ARENA_POINTERS_DUAL
}
python/mujoco/structs.cc
+11 -5
View File
@@ -41,6 +41,7 @@
#include <mujoco/mujoco.h>
#include "errors.h"
#include "function_traits.h"
#include "indexer_xmacro.h"
#include "indexers.h"
#include "private.h"
#include "raw.h"
@@ -743,11 +744,12 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(solver);
X(timer);
X(warning);
X(ncon);
X(ne);
X(nf);
X(nnzJ);
X(nnzL);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
@@ -772,7 +774,8 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
}
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_SOLVER
// MJDATA_ARENA_POINTERS_NEWTON // TODO: tassa - Add after allocation exists
if (mj_isDual(this->model_->get())) {
MJDATA_ARENA_POINTERS_DUAL
}
@@ -819,11 +822,12 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(solver);
X(timer);
X(warning);
X(ncon);
X(ne);
X(nf);
X(nnzJ);
X(nnzL);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
@@ -850,7 +854,8 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
}
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_SOLVER
// MJDATA_ARENA_POINTERS_NEWTON // TODO: tassa - Add after allocation exists
if (is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
@@ -2009,7 +2014,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
return InitPyArray(X_ARRAY_SHAPE(dim0, dim1), d.get()->var, d.owner()); \
});
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_SOLVER
MJDATA_ARENA_POINTERS_NEWTON
MJDATA_ARENA_POINTERS_DUAL
MJDATA_ARENA_POINTERS_ISLAND