Yuval Tassa
647af382c1
Total testspeed runtime for `2humanoids100.xml` reduced by 27.6% (63.4 -> 49.5s) due to early termination on small islands PiperOrigin-RevId: 906910915 Change-Id: If55ad468c3680ef44eda7000455a77f8003b3122
54 lines
1.9 KiB
C
54 lines
1.9 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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//------------------------------ monolithic solvers ------------------------------------------------
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// PGS solver
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void mj_solPGS(const mjModel* m, mjData* d, int maxiter);
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// No Slip solver (modified PGS)
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void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter);
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// CG solver
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void mj_solCG(const mjModel* m, mjData* d, int maxiter);
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// Newton solver
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void mj_solNewton(const mjModel* m, mjData* d, int maxiter);
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//------------------------------ per-island solvers ------------------------------------------------
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// PGS solver (one island, no dualFinish — caller handles it)
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void mj_solPGS_island(const mjModel* m, mjData* d, int island, int maxiter);
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// NoSlip solver (one island, no dualFinish — caller handles it)
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void mj_solNoSlip_island(const mjModel* m, mjData* d, int island, int maxiter);
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// CG solver
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void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter);
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// Newton entry point
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void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter);
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// map efc_force to joint space (used after dual island dispatch)
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void mj_dualFinish(const mjModel* m, mjData* d);
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#endif // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
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