Use Kyrlov linear solver for the Newton step.#24
Merged
dfridovi merged 2 commits intoCLeARoboticsLab:mainfrom Dec 26, 2024
Merged
Use Kyrlov linear solver for the Newton step.#24dfridovi merged 2 commits intoCLeARoboticsLab:mainfrom
dfridovi merged 2 commits intoCLeARoboticsLab:mainfrom
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This speeds up the toy example in the readme by a factor of 4 on my machine (80microseconds -> 18microseconds).
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The failures are due to KKT residual tolerance violations in two cases. We can probably tighten the tolerance on the gmres call |
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Nice find! I’m not at my laptop this week but I agree this seems like an easy fix. |
This also fixes the failing tests, adds docs, and allows the user to select their preferred linear solve algorithm.
Member
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Nice! Good fix! |
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This speeds up the toy example in the readme by a factor of 4 on my machine (80microseconds -> 18microseconds).