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Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
This commit is contained in:
Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
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doc/XMLschema.rst
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@@ -1163,6 +1163,33 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`distance | \* | :class: mjcf-attributes |
| <sensor-distance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-distance-name>` | :ref:`geom1<sensor-distance-geom1>` | :ref:`geom2<sensor-distance-geom2>` | :ref:`body1<sensor-distance-body1>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body2<sensor-distance-body2>` | :ref:`cutoff<sensor-distance-cutoff>` | :ref:`noise<sensor-distance-noise>` | :ref:`user<sensor-distance-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`normal | \* | :class: mjcf-attributes |
| <sensor-normal>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-normal-name>` | :ref:`geom1<sensor-normal-geom1>` | :ref:`geom2<sensor-normal-geom2>` | :ref:`body1<sensor-normal-body1>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body2<sensor-normal-body2>` | :ref:`cutoff<sensor-normal-cutoff>` | :ref:`noise<sensor-normal-noise>` | :ref:`user<sensor-normal-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`fromto | \* | :class: mjcf-attributes |
| <sensor-fromto>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-fromto-name>` | :ref:`geom1<sensor-fromto-geom1>` | :ref:`geom2<sensor-fromto-geom2>` | :ref:`body1<sensor-fromto-body1>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body2<sensor-fromto-body2>` | :ref:`cutoff<sensor-fromto-cutoff>` | :ref:`noise<sensor-fromto-noise>` | :ref:`user<sensor-fromto-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`clock | \* | :class: mjcf-attributes |
| <sensor-clock>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |