Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_inverse.h

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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// inverse dynamics
+MJAPI void mj_inverse(const mjModel* m, mjData* d);
+
+// Inverse dynamics with skip; skipstage is mjtStage.
+MJAPI void mj_inverseSkip(const mjModel* m, mjData* d,
+                          int skipstage, int skipsensor);
+
+// position-dependent computations
+MJAPI void mj_invPosition(const mjModel* m, mjData* d);
+
+// velocity-dependent computations
+MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
+
+// inverse constraint solver
+MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
+
+// compare forward and inverse dynamics, without changing results of forward dynamics
+MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_