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Implement plugin mechanism for actuators and sensors.

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PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
This commit is contained in:
Saran Tunyasuvunakool
2022-09-16 12:20:56 -07:00
committed by Copybara-Service
parent f556d4d94f
commit 1e2a9a53bc
29 changed files with 2121 additions and 51 deletions
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include/mujoco/mjxmacro.h
+13 -1
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@@ -102,6 +102,8 @@
X( ntupledata ) \
X( nkey ) \
X( nmocap ) \
X( nplugin ) \
X( npluginattr ) \
X( nuser_body ) \
X( nuser_jnt ) \
X( nuser_geom ) \
@@ -119,6 +121,7 @@
X( nstack ) \
X( nuserdata ) \
X( nsensordata ) \
X( npluginstate ) \
X( nbuffer )
@@ -138,7 +141,6 @@
int nu = m->nu; \
int nmocap = m->nmocap;
// macro for annotating that an array size in an X macro is a member of mjModel
// by default this macro does nothing, but users can redefine it as necessary
#define MJ_M(n) n
@@ -367,6 +369,7 @@
X( mjtNum, actuator_length0, nu, 1 ) \
X( mjtNum, actuator_lengthrange, nu, 2 ) \
X( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
X( int, actuator_plugin, nu, 1 ) \
X( int, sensor_type, nsensor, 1 ) \
X( int, sensor_datatype, nsensor, 1 ) \
X( int, sensor_needstage, nsensor, 1 ) \
@@ -379,6 +382,11 @@
X( mjtNum, sensor_cutoff, nsensor, 1 ) \
X( mjtNum, sensor_noise, nsensor, 1 ) \
X( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
X( int, sensor_plugin, nsensor, 1 ) \
X( int, plugin, nplugin, 1 ) \
X( int, plugin_stateadr, nplugin, 1 ) \
X( char, plugin_attr, npluginattr, 1 ) \
X( int, plugin_attradr, nplugin, 1 ) \
X( int, numeric_adr, nnumeric, 1 ) \
X( int, numeric_size, nnumeric, 1 ) \
X( mjtNum, numeric_data, nnumericdata, 1 ) \
@@ -418,6 +426,7 @@
X( int, name_textadr, ntext, 1 ) \
X( int, name_tupleadr, ntuple, 1 ) \
X( int, name_keyadr, nkey, 1 ) \
X( int, name_pluginadr, nplugin, 1 ) \
X( char, names, nnames, 1 )
@@ -435,6 +444,7 @@
X( mjtNum, qvel, nv, 1 ) \
X( mjtNum, act, na, 1 ) \
X( mjtNum, qacc_warmstart, nv, 1 ) \
X( mjtNum, plugin_state, npluginstate, 1 ) \
X( mjtNum, ctrl, nu, 1 ) \
X( mjtNum, qfrc_applied, nv, 1 ) \
X( mjtNum, xfrc_applied, nbody, 6 ) \
@@ -444,6 +454,8 @@
X( mjtNum, act_dot, na, 1 ) \
X( mjtNum, userdata, nuserdata, 1 ) \
X( mjtNum, sensordata, nsensordata, 1 ) \
X( int, plugin, nplugin, 1 ) \
X( uintptr_t, plugin_data, nplugin, 1 ) \
X( mjtNum, xpos, nbody, 3 ) \
X( mjtNum, xquat, nbody, 4 ) \
X( mjtNum, xmat, nbody, 9 ) \