Parallelize the Rounding Stage of GCS #22222
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@drake-jenkins-bot linux-jammy-clang-bazel-experimental-thread-sanitizer please |
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Reviewable status: 1 unresolved discussion, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits), missing label for release notes (waiting on @cohnt)
geometry/optimization/graph_of_convex_sets.cc line 1618 at r1 (raw file):
// If any costs or constraints aren't thread-safe, we can't parallelize. bool is_thread_safe = true;
Don't forget to set options.kMaxThreads = 1 and make sure to warn if is_thread_safe == false && parallelism.num_threads() > 1, otherwise users might be surprised if the extra threads aren't used.
…ts or constraints. Also make sure only one thread is used per solver.
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Reviewable status: 1 unresolved discussion, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits), missing label for release notes (waiting on @cohnt)
geometry/optimization/graph_of_convex_sets.cc line 1618 at r1 (raw file):
Previously, AlexandreAmice (Alexandre Amice) wrote…
Don't forget to set
options.kMaxThreads = 1and make sure to warn ifis_thread_safe == false && parallelism.num_threads() > 1, otherwise users might be surprised if the extra threads aren't used.
Done.
This ended up being pretty simple -- solve all the restrictions in a parallel for loop, and override
options.parallelismto set the number of threads to one if any not-thread-safe costs or constraints are included in the GCS.Gonna test this with the various debug builds before I send it up for review.
This change is