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math: scan solve_pgs iterations #658

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math: scan solve_pgs iterations #658

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6 changes: 4 additions & 2 deletions brax/math.py
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Original file line number Diff line number Diff line change
Expand Up @@ -268,9 +268,11 @@ def get_x(x, xs):

return x, None

# TODO(brax-team): turn this into a scan
for _ in range(num_iters):
def iterate(x, _):
x, _ = jax.lax.scan(get_x, x, (jp.arange(num_rows), a, b))
return x, None

x, _ = jax.lax.scan(iterate, x, None, length=num_iters)

return x

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7 changes: 7 additions & 0 deletions brax/math_test.py
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Expand Up @@ -65,6 +65,13 @@ def test_from_to(self):
rot = math.from_to(v1, v2)
np.testing.assert_array_almost_equal(v2, math.rotate(v1, rot))

def test_solve_pgs_diagonal(self):
a = jp.diag(jp.array([2.0, 4.0, 8.0]))
b = jp.array([-2.0, 2.0, -8.0])
expected = jp.array([1.0, 0.0, 1.0])
x = math.solve_pgs(a, b, num_iters=2)
np.testing.assert_allclose(x, expected, rtol=1e-6, atol=1e-6)


class OrthoganalsTest(parameterized.TestCase):
"""Tests the orthogonals function."""
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