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Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.

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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
This commit is contained in:
Yuval Tassa
2024-10-14 09:06:14 -07:00
committed by Copybara-Service
parent 7ec94f46d4
commit ee7b994021
10 changed files with 4 additions and 98 deletions
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include/mujoco/mjdata.h
-8
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@@ -198,7 +198,6 @@ struct mjData_ {
int nl; // number of limit constraints
int nefc; // number of constraints
int nnzJ; // number of non-zeros in constraint Jacobian
int nnzL; // number of non-zeros in Newton Cholesky factor
int nisland; // number of detected constraint islands
// global properties
@@ -420,13 +419,6 @@ struct mjData_ {
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
// computed by mj_fwdConstraint (Newton solver)
int* L_rownnz; // number of non-zeros in Hessian factor L rows (nv x 1)
int* L_rowadr; // row start address in colind array (nv x 1)
int* L_colind; // column indices in sparse AR (nnzL x 1)
mjtNum* L; // chol(M + J'*diag(efc_D)*J) (nnzL x 1)
mjtNum* Lcone; // L with cone contributions (nnzL x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
include/mujoco/mjxmacro.h
-10
View File
@@ -707,14 +707,6 @@
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 ) \
@@ -738,7 +730,6 @@
#define MJDATA_ARENA_POINTERS \
MJDATA_ARENA_POINTERS_CONTACT \
MJDATA_ARENA_POINTERS_SOLVER \
MJDATA_ARENA_POINTERS_NEWTON \
MJDATA_ARENA_POINTERS_DUAL \
MJDATA_ARENA_POINTERS_ISLAND
@@ -762,7 +753,6 @@
X( int, nl ) \
X( int, nefc ) \
X( int, nnzJ ) \
X( int, nnzL ) \
X( int, nisland ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )