chenlin/Mujoco_WASM
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dfd463cdb5cd315e9fb20b518f0fbbf4ac018de2
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4 Commits

Author SHA1 Message Date
Yuval Tassa a6b338db64 mju_boxQP only reads from the lower triangle of the input Hessian. 
- 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
 2022-09-27 04:32:40 -07:00
Yuval Tassa f4e7fa97af Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x. 
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
 2022-09-14 08:05:28 -07:00
Yuval Tassa 8957976674 Add mju_boxQP solving box-constrained quadratic programs. 
PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
 2022-09-14 04:31:34 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00