Version 2.1: documentation, public API headers, and sample programs.
PiperOrigin-RevId: 403900419
This commit is contained in:
Saran Tunyasuvunakool
Executable
+511
@@ -0,0 +1,511 @@
|
||||
// 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_MJXMACRO_H_
|
||||
#define MUJOCO_MJXMACRO_H_
|
||||
|
||||
//-------------------------------- mjOption ---------------------------------------------
|
||||
|
||||
// scalar fields of mjOption
|
||||
#define MJOPTION_SCALARS \
|
||||
X( mjtNum, timestep ) \
|
||||
X( mjtNum, apirate ) \
|
||||
X( mjtNum, impratio ) \
|
||||
X( mjtNum, tolerance ) \
|
||||
X( mjtNum, noslip_tolerance ) \
|
||||
X( mjtNum, mpr_tolerance ) \
|
||||
X( mjtNum, density ) \
|
||||
X( mjtNum, viscosity ) \
|
||||
X( mjtNum, o_margin ) \
|
||||
X( int, integrator ) \
|
||||
X( int, collision ) \
|
||||
X( int, cone ) \
|
||||
X( int, jacobian ) \
|
||||
X( int, solver ) \
|
||||
X( int, iterations ) \
|
||||
X( int, noslip_iterations ) \
|
||||
X( int, mpr_iterations ) \
|
||||
X( int, disableflags ) \
|
||||
X( int, enableflags )
|
||||
|
||||
|
||||
// vector fields of mjOption
|
||||
#define MJOPTION_VECTORS \
|
||||
X( gravity, 3 ) \
|
||||
X( wind, 3 ) \
|
||||
X( magnetic, 3 ) \
|
||||
X( o_solref, mjNREF ) \
|
||||
X( o_solimp, mjNIMP )
|
||||
|
||||
|
||||
|
||||
//-------------------------------- mjModel ----------------------------------------------
|
||||
|
||||
// int fields of mjModel
|
||||
#define MJMODEL_INTS \
|
||||
X( nq ) \
|
||||
X( nv ) \
|
||||
X( nu ) \
|
||||
X( na ) \
|
||||
X( nbody ) \
|
||||
X( njnt ) \
|
||||
X( ngeom ) \
|
||||
X( nsite ) \
|
||||
X( ncam ) \
|
||||
X( nlight ) \
|
||||
X( nmesh ) \
|
||||
X( nmeshvert ) \
|
||||
X( nmeshtexvert ) \
|
||||
X( nmeshface ) \
|
||||
X( nmeshgraph ) \
|
||||
X( nskin ) \
|
||||
X( nskinvert ) \
|
||||
X( nskintexvert ) \
|
||||
X( nskinface ) \
|
||||
X( nskinbone ) \
|
||||
X( nskinbonevert ) \
|
||||
X( nhfield ) \
|
||||
X( nhfielddata ) \
|
||||
X( ntex ) \
|
||||
X( ntexdata ) \
|
||||
X( nmat ) \
|
||||
X( npair ) \
|
||||
X( nexclude ) \
|
||||
X( neq ) \
|
||||
X( ntendon ) \
|
||||
X( nwrap ) \
|
||||
X( nsensor ) \
|
||||
X( nnumeric ) \
|
||||
X( nnumericdata ) \
|
||||
X( ntext ) \
|
||||
X( ntextdata ) \
|
||||
X( ntuple ) \
|
||||
X( ntupledata ) \
|
||||
X( nkey ) \
|
||||
X( nmocap ) \
|
||||
X( nuser_body ) \
|
||||
X( nuser_jnt ) \
|
||||
X( nuser_geom ) \
|
||||
X( nuser_site ) \
|
||||
X( nuser_cam ) \
|
||||
X( nuser_tendon ) \
|
||||
X( nuser_actuator ) \
|
||||
X( nuser_sensor ) \
|
||||
X( nnames ) \
|
||||
X( nM ) \
|
||||
X( nemax ) \
|
||||
X( njmax ) \
|
||||
X( nconmax ) \
|
||||
X( nstack ) \
|
||||
X( nuserdata ) \
|
||||
X( nsensordata ) \
|
||||
X( nbuffer )
|
||||
|
||||
|
||||
// pointer fields of mjModel
|
||||
#define MJMODEL_POINTERS \
|
||||
X( mjtNum, qpos0, nq, 1 ) \
|
||||
X( mjtNum, qpos_spring, nq, 1 ) \
|
||||
X( int, body_parentid, nbody, 1 ) \
|
||||
X( int, body_rootid, nbody, 1 ) \
|
||||
X( int, body_weldid, nbody, 1 ) \
|
||||
X( int, body_mocapid, nbody, 1 ) \
|
||||
X( int, body_jntnum, nbody, 1 ) \
|
||||
X( int, body_jntadr, nbody, 1 ) \
|
||||
X( int, body_dofnum, nbody, 1 ) \
|
||||
X( int, body_dofadr, nbody, 1 ) \
|
||||
X( int, body_geomnum, nbody, 1 ) \
|
||||
X( int, body_geomadr, nbody, 1 ) \
|
||||
X( mjtByte, body_simple, nbody, 1 ) \
|
||||
X( mjtByte, body_sameframe, nbody, 1 ) \
|
||||
X( mjtNum, body_pos, nbody, 3 ) \
|
||||
X( mjtNum, body_quat, nbody, 4 ) \
|
||||
X( mjtNum, body_ipos, nbody, 3 ) \
|
||||
X( mjtNum, body_iquat, nbody, 4 ) \
|
||||
X( mjtNum, body_mass, nbody, 1 ) \
|
||||
X( mjtNum, body_subtreemass, nbody, 1 ) \
|
||||
X( mjtNum, body_inertia, nbody, 3 ) \
|
||||
X( mjtNum, body_invweight0, nbody, 2 ) \
|
||||
X( mjtNum, body_user, nbody, nuser_body ) \
|
||||
X( int, jnt_type, njnt, 1 ) \
|
||||
X( int, jnt_qposadr, njnt, 1 ) \
|
||||
X( int, jnt_dofadr, njnt, 1 ) \
|
||||
X( int, jnt_bodyid, njnt, 1 ) \
|
||||
X( int, jnt_group, njnt, 1 ) \
|
||||
X( mjtByte, jnt_limited, njnt, 1 ) \
|
||||
X( mjtNum, jnt_solref, njnt, mjNREF ) \
|
||||
X( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
||||
X( mjtNum, jnt_pos, njnt, 3 ) \
|
||||
X( mjtNum, jnt_axis, njnt, 3 ) \
|
||||
X( mjtNum, jnt_stiffness, njnt, 1 ) \
|
||||
X( mjtNum, jnt_range, njnt, 2 ) \
|
||||
X( mjtNum, jnt_margin, njnt, 1 ) \
|
||||
X( mjtNum, jnt_user, njnt, nuser_jnt ) \
|
||||
X( int, dof_bodyid, nv, 1 ) \
|
||||
X( int, dof_jntid, nv, 1 ) \
|
||||
X( int, dof_parentid, nv, 1 ) \
|
||||
X( int, dof_Madr, nv, 1 ) \
|
||||
X( int, dof_simplenum, nv, 1 ) \
|
||||
X( mjtNum, dof_solref, nv, mjNREF ) \
|
||||
X( mjtNum, dof_solimp, nv, mjNIMP ) \
|
||||
X( mjtNum, dof_frictionloss, nv, 1 ) \
|
||||
X( mjtNum, dof_armature, nv, 1 ) \
|
||||
X( mjtNum, dof_damping, nv, 1 ) \
|
||||
X( mjtNum, dof_invweight0, nv, 1 ) \
|
||||
X( mjtNum, dof_M0, nv, 1 ) \
|
||||
X( int, geom_type, ngeom, 1 ) \
|
||||
X( int, geom_contype, ngeom, 1 ) \
|
||||
X( int, geom_conaffinity, ngeom, 1 ) \
|
||||
X( int, geom_condim, ngeom, 1 ) \
|
||||
X( int, geom_bodyid, ngeom, 1 ) \
|
||||
X( int, geom_dataid, ngeom, 1 ) \
|
||||
X( int, geom_matid, ngeom, 1 ) \
|
||||
X( int, geom_group, ngeom, 1 ) \
|
||||
X( int, geom_priority, ngeom, 1 ) \
|
||||
X( mjtByte, geom_sameframe, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solmix, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solref, ngeom, mjNREF ) \
|
||||
X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
|
||||
X( mjtNum, geom_size, ngeom, 3 ) \
|
||||
X( mjtNum, geom_rbound, ngeom, 1 ) \
|
||||
X( mjtNum, geom_pos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_quat, ngeom, 4 ) \
|
||||
X( mjtNum, geom_friction, ngeom, 3 ) \
|
||||
X( mjtNum, geom_margin, ngeom, 1 ) \
|
||||
X( mjtNum, geom_gap, ngeom, 1 ) \
|
||||
X( mjtNum, geom_user, ngeom, nuser_geom ) \
|
||||
X( float, geom_rgba, ngeom, 4 ) \
|
||||
X( int, site_type, nsite, 1 ) \
|
||||
X( int, site_bodyid, nsite, 1 ) \
|
||||
X( int, site_matid, nsite, 1 ) \
|
||||
X( int, site_group, nsite, 1 ) \
|
||||
X( mjtByte, site_sameframe, nsite, 1 ) \
|
||||
X( mjtNum, site_size, nsite, 3 ) \
|
||||
X( mjtNum, site_pos, nsite, 3 ) \
|
||||
X( mjtNum, site_quat, nsite, 4 ) \
|
||||
X( mjtNum, site_user, nsite, nuser_site ) \
|
||||
X( float, site_rgba, nsite, 4 ) \
|
||||
X( int, cam_mode, ncam, 1 ) \
|
||||
X( int, cam_bodyid, ncam, 1 ) \
|
||||
X( int, cam_targetbodyid, ncam, 1 ) \
|
||||
X( mjtNum, cam_pos, ncam, 3 ) \
|
||||
X( mjtNum, cam_quat, ncam, 4 ) \
|
||||
X( mjtNum, cam_poscom0, ncam, 3 ) \
|
||||
X( mjtNum, cam_pos0, ncam, 3 ) \
|
||||
X( mjtNum, cam_mat0, ncam, 9 ) \
|
||||
X( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
X( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
X( mjtNum, cam_user, ncam, nuser_cam ) \
|
||||
X( int, light_mode, nlight, 1 ) \
|
||||
X( int, light_bodyid, nlight, 1 ) \
|
||||
X( int, light_targetbodyid, nlight, 1 ) \
|
||||
X( mjtByte, light_directional, nlight, 1 ) \
|
||||
X( mjtByte, light_castshadow, nlight, 1 ) \
|
||||
X( mjtByte, light_active, nlight, 1 ) \
|
||||
X( mjtNum, light_pos, nlight, 3 ) \
|
||||
X( mjtNum, light_dir, nlight, 3 ) \
|
||||
X( mjtNum, light_poscom0, nlight, 3 ) \
|
||||
X( mjtNum, light_pos0, nlight, 3 ) \
|
||||
X( mjtNum, light_dir0, nlight, 3 ) \
|
||||
X( float, light_attenuation, nlight, 3 ) \
|
||||
X( float, light_cutoff, nlight, 1 ) \
|
||||
X( float, light_exponent, nlight, 1 ) \
|
||||
X( float, light_ambient, nlight, 3 ) \
|
||||
X( float, light_diffuse, nlight, 3 ) \
|
||||
X( float, light_specular, nlight, 3 ) \
|
||||
X( int, mesh_vertadr, nmesh, 1 ) \
|
||||
X( int, mesh_vertnum, nmesh, 1 ) \
|
||||
X( int, mesh_texcoordadr, nmesh, 1 ) \
|
||||
X( int, mesh_faceadr, nmesh, 1 ) \
|
||||
X( int, mesh_facenum, nmesh, 1 ) \
|
||||
X( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X( float, mesh_vert, nmeshvert, 3 ) \
|
||||
X( float, mesh_normal, nmeshvert, 3 ) \
|
||||
X( float, mesh_texcoord, nmeshtexvert, 2 ) \
|
||||
X( int, mesh_face, nmeshface, 3 ) \
|
||||
X( int, mesh_graph, nmeshgraph,1 ) \
|
||||
X( int, skin_matid, nskin, 1 ) \
|
||||
X( float, skin_rgba, nskin, 4 ) \
|
||||
X( float, skin_inflate, nskin, 1 ) \
|
||||
X( int, skin_vertadr, nskin, 1 ) \
|
||||
X( int, skin_vertnum, nskin, 1 ) \
|
||||
X( int, skin_texcoordadr, nskin, 1 ) \
|
||||
X( int, skin_faceadr, nskin, 1 ) \
|
||||
X( int, skin_facenum, nskin, 1 ) \
|
||||
X( int, skin_boneadr, nskin, 1 ) \
|
||||
X( int, skin_bonenum, nskin, 1 ) \
|
||||
X( float, skin_vert, nskinvert, 3 ) \
|
||||
X( float, skin_texcoord, nskintexvert, 2 ) \
|
||||
X( int, skin_face, nskinface, 3 ) \
|
||||
X( int, skin_bonevertadr, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertnum, nskinbone, 1 ) \
|
||||
X( float, skin_bonebindpos, nskinbone, 3 ) \
|
||||
X( float, skin_bonebindquat, nskinbone, 4 ) \
|
||||
X( int, skin_bonebodyid, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertid, nskinbonevert, 1 ) \
|
||||
X( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
||||
X( mjtNum, hfield_size, nhfield, 4 ) \
|
||||
X( int, hfield_nrow, nhfield, 1 ) \
|
||||
X( int, hfield_ncol, nhfield, 1 ) \
|
||||
X( int, hfield_adr, nhfield, 1 ) \
|
||||
X( float, hfield_data, nhfielddata, 1 ) \
|
||||
X( int, tex_type, ntex, 1 ) \
|
||||
X( int, tex_height, ntex, 1 ) \
|
||||
X( int, tex_width, ntex, 1 ) \
|
||||
X( int, tex_adr, ntex, 1 ) \
|
||||
X( mjtByte, tex_rgb, ntexdata, 1 ) \
|
||||
X( int, mat_texid, nmat, 1 ) \
|
||||
X( mjtByte, mat_texuniform, nmat, 1 ) \
|
||||
X( float, mat_texrepeat, nmat, 2 ) \
|
||||
X( float, mat_emission, nmat, 1 ) \
|
||||
X( float, mat_specular, nmat, 1 ) \
|
||||
X( float, mat_shininess, nmat, 1 ) \
|
||||
X( float, mat_reflectance, nmat, 1 ) \
|
||||
X( float, mat_rgba, nmat, 4 ) \
|
||||
X( int, pair_dim, npair, 1 ) \
|
||||
X( int, pair_geom1, npair, 1 ) \
|
||||
X( int, pair_geom2, npair, 1 ) \
|
||||
X( int, pair_signature, npair, 1 ) \
|
||||
X( mjtNum, pair_solref, npair, mjNREF ) \
|
||||
X( mjtNum, pair_solimp, npair, mjNIMP ) \
|
||||
X( mjtNum, pair_margin, npair, 1 ) \
|
||||
X( mjtNum, pair_gap, npair, 1 ) \
|
||||
X( mjtNum, pair_friction, npair, 5 ) \
|
||||
X( int, exclude_signature, nexclude, 1 ) \
|
||||
X( int, eq_type, neq, 1 ) \
|
||||
X( int, eq_obj1id, neq, 1 ) \
|
||||
X( int, eq_obj2id, neq, 1 ) \
|
||||
X( mjtByte, eq_active, neq, 1 ) \
|
||||
X( mjtNum, eq_solref, neq, mjNREF ) \
|
||||
X( mjtNum, eq_solimp, neq, mjNIMP ) \
|
||||
X( mjtNum, eq_data, neq, mjNEQDATA ) \
|
||||
X( int, tendon_adr, ntendon, 1 ) \
|
||||
X( int, tendon_num, ntendon, 1 ) \
|
||||
X( int, tendon_matid, ntendon, 1 ) \
|
||||
X( int, tendon_group, ntendon, 1 ) \
|
||||
X( mjtByte, tendon_limited, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_width, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
X( mjtNum, tendon_margin, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_lengthspring, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_length0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_user, ntendon, nuser_tendon) \
|
||||
X( float, tendon_rgba, ntendon, 4 ) \
|
||||
X( int, wrap_type, nwrap, 1 ) \
|
||||
X( int, wrap_objid, nwrap, 1 ) \
|
||||
X( mjtNum, wrap_prm, nwrap, 1 ) \
|
||||
X( int, actuator_trntype, nu, 1 ) \
|
||||
X( int, actuator_dyntype, nu, 1 ) \
|
||||
X( int, actuator_gaintype, nu, 1 ) \
|
||||
X( int, actuator_biastype, nu, 1 ) \
|
||||
X( int, actuator_trnid, nu, 2 ) \
|
||||
X( int, actuator_group, nu, 1 ) \
|
||||
X( mjtByte, actuator_ctrllimited, nu, 1 ) \
|
||||
X( mjtByte, actuator_forcelimited, nu, 1 ) \
|
||||
X( mjtNum, actuator_dynprm, nu, mjNDYN ) \
|
||||
X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
|
||||
X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
|
||||
X( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_forcerange, nu, 2 ) \
|
||||
X( mjtNum, actuator_gear, nu, 6 ) \
|
||||
X( mjtNum, actuator_cranklength, nu, 1 ) \
|
||||
X( mjtNum, actuator_acc0, nu, 1 ) \
|
||||
X( mjtNum, actuator_length0, nu, 1 ) \
|
||||
X( mjtNum, actuator_lengthrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_user, nu, nuser_actuator) \
|
||||
X( int, sensor_type, nsensor, 1 ) \
|
||||
X( int, sensor_datatype, nsensor, 1 ) \
|
||||
X( int, sensor_needstage, nsensor, 1 ) \
|
||||
X( int, sensor_objtype, nsensor, 1 ) \
|
||||
X( int, sensor_objid, nsensor, 1 ) \
|
||||
X( int, sensor_dim, nsensor, 1 ) \
|
||||
X( int, sensor_adr, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_noise, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_user, nsensor, nuser_sensor) \
|
||||
X( int, numeric_adr, nnumeric, 1 ) \
|
||||
X( int, numeric_size, nnumeric, 1 ) \
|
||||
X( mjtNum, numeric_data, nnumericdata, 1 ) \
|
||||
X( int, text_adr, ntext, 1 ) \
|
||||
X( int, text_size, ntext, 1 ) \
|
||||
X( char, text_data, ntextdata, 1 ) \
|
||||
X( int, tuple_adr, ntuple, 1 ) \
|
||||
X( int, tuple_size, ntuple, 1 ) \
|
||||
X( int, tuple_objtype, ntupledata, 1 ) \
|
||||
X( int, tuple_objid, ntupledata, 1 ) \
|
||||
X( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
||||
X( mjtNum, key_time, nkey, 1 ) \
|
||||
X( mjtNum, key_qpos, nkey, nq ) \
|
||||
X( mjtNum, key_qvel, nkey, nv ) \
|
||||
X( mjtNum, key_act, nkey, na ) \
|
||||
X( mjtNum, key_mpos, nkey, nmocap3 ) \
|
||||
X( mjtNum, key_mquat, nkey, nmocap4 ) \
|
||||
X( int, name_bodyadr, nbody, 1 ) \
|
||||
X( int, name_jntadr, njnt, 1 ) \
|
||||
X( int, name_geomadr, ngeom, 1 ) \
|
||||
X( int, name_siteadr, nsite, 1 ) \
|
||||
X( int, name_camadr, ncam, 1 ) \
|
||||
X( int, name_lightadr, nlight, 1 ) \
|
||||
X( int, name_meshadr, nmesh, 1 ) \
|
||||
X( int, name_skinadr, nskin, 1 ) \
|
||||
X( int, name_hfieldadr, nhfield, 1 ) \
|
||||
X( int, name_texadr, ntex, 1 ) \
|
||||
X( int, name_matadr, nmat, 1 ) \
|
||||
X( int, name_pairadr, npair, 1 ) \
|
||||
X( int, name_excludeadr, nexclude, 1 ) \
|
||||
X( int, name_eqadr, neq, 1 ) \
|
||||
X( int, name_tendonadr, ntendon, 1 ) \
|
||||
X( int, name_actuatoradr, nu, 1 ) \
|
||||
X( int, name_sensoradr, nsensor, 1 ) \
|
||||
X( int, name_numericadr, nnumeric, 1 ) \
|
||||
X( int, name_textadr, ntext, 1 ) \
|
||||
X( int, name_tupleadr, ntuple, 1 ) \
|
||||
X( int, name_keyadr, nkey, 1 ) \
|
||||
X( char, names, nnames, 1 )
|
||||
|
||||
|
||||
|
||||
//-------------------------------- mjData -----------------------------------------------
|
||||
|
||||
// pointer fields of mjData
|
||||
#define MJDATA_POINTERS \
|
||||
X( mjtNum, qpos, nq, 1 ) \
|
||||
X( mjtNum, qvel, nv, 1 ) \
|
||||
X( mjtNum, act, na, 1 ) \
|
||||
X( mjtNum, qacc_warmstart, nv, 1 ) \
|
||||
X( mjtNum, ctrl, nu, 1 ) \
|
||||
X( mjtNum, qfrc_applied, nv, 1 ) \
|
||||
X( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
X( mjtNum, qacc, nv, 1 ) \
|
||||
X( mjtNum, act_dot, na, 1 ) \
|
||||
X( mjtNum, mocap_pos, nmocap, 3 ) \
|
||||
X( mjtNum, mocap_quat, nmocap, 4 ) \
|
||||
X( mjtNum, userdata, nuserdata, 1 ) \
|
||||
X( mjtNum, sensordata, nsensordata,1 ) \
|
||||
X( mjtNum, xpos, nbody, 3 ) \
|
||||
X( mjtNum, xquat, nbody, 4 ) \
|
||||
X( mjtNum, xmat, nbody, 9 ) \
|
||||
X( mjtNum, xipos, nbody, 3 ) \
|
||||
X( mjtNum, ximat, nbody, 9 ) \
|
||||
X( mjtNum, xanchor, njnt, 3 ) \
|
||||
X( mjtNum, xaxis, njnt, 3 ) \
|
||||
X( mjtNum, geom_xpos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_xmat, ngeom, 9 ) \
|
||||
X( mjtNum, site_xpos, nsite, 3 ) \
|
||||
X( mjtNum, site_xmat, nsite, 9 ) \
|
||||
X( mjtNum, cam_xpos, ncam, 3 ) \
|
||||
X( mjtNum, cam_xmat, ncam, 9 ) \
|
||||
X( mjtNum, light_xpos, nlight, 3 ) \
|
||||
X( mjtNum, light_xdir, nlight, 3 ) \
|
||||
X( mjtNum, subtree_com, nbody, 3 ) \
|
||||
X( mjtNum, cdof, nv, 6 ) \
|
||||
X( mjtNum, cinert, nbody, 10 ) \
|
||||
X( int, ten_wrapadr, ntendon, 1 ) \
|
||||
X( int, ten_wrapnum, ntendon, 1 ) \
|
||||
X( int, ten_J_rownnz, ntendon, 1 ) \
|
||||
X( int, ten_J_rowadr, ntendon, 1 ) \
|
||||
X( int, ten_J_colind, ntendon, nv ) \
|
||||
X( mjtNum, ten_length, ntendon, 1 ) \
|
||||
X( mjtNum, ten_J, ntendon, nv ) \
|
||||
X( int, wrap_obj, nwrap, 2 ) \
|
||||
X( mjtNum, wrap_xpos, nwrap, 6 ) \
|
||||
X( mjtNum, actuator_length, nu, 1 ) \
|
||||
X( mjtNum, actuator_moment, nu, nv ) \
|
||||
X( mjtNum, crb, nbody, 10 ) \
|
||||
X( mjtNum, qM, nM, 1 ) \
|
||||
X( mjtNum, qLD, nM, 1 ) \
|
||||
X( mjtNum, qLDiagInv, nv, 1 ) \
|
||||
X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
||||
X( mjContact, contact, nconmax, 1 ) \
|
||||
X( int, efc_type, njmax, 1 ) \
|
||||
X( int, efc_id, njmax, 1 ) \
|
||||
X( int, efc_J_rownnz, njmax, 1 ) \
|
||||
X( int, efc_J_rowadr, njmax, 1 ) \
|
||||
X( int, efc_J_rowsuper, njmax, 1 ) \
|
||||
X( int, efc_J_colind, njmax, nv ) \
|
||||
X( int, efc_JT_rownnz, nv, 1 ) \
|
||||
X( int, efc_JT_rowadr, nv, 1 ) \
|
||||
X( int, efc_JT_rowsuper, nv, 1 ) \
|
||||
X( int, efc_JT_colind, nv, njmax ) \
|
||||
X( mjtNum, efc_J, njmax, nv ) \
|
||||
X( mjtNum, efc_JT, nv, njmax ) \
|
||||
X( mjtNum, efc_pos, njmax, 1 ) \
|
||||
X( mjtNum, efc_margin, njmax, 1 ) \
|
||||
X( mjtNum, efc_frictionloss, njmax, 1 ) \
|
||||
X( mjtNum, efc_diagApprox, njmax, 1 ) \
|
||||
X( mjtNum, efc_KBIP, njmax, 4 ) \
|
||||
X( mjtNum, efc_D, njmax, 1 ) \
|
||||
X( mjtNum, efc_R, njmax, 1 ) \
|
||||
X( int, efc_AR_rownnz, njmax, 1 ) \
|
||||
X( int, efc_AR_rowadr, njmax, 1 ) \
|
||||
X( int, efc_AR_colind, njmax, njmax ) \
|
||||
X( mjtNum, efc_AR, njmax, njmax ) \
|
||||
X( mjtNum, ten_velocity, ntendon, 1 ) \
|
||||
X( mjtNum, actuator_velocity, nu, 1 ) \
|
||||
X( mjtNum, cvel, nbody, 6 ) \
|
||||
X( mjtNum, cdof_dot, nv, 6 ) \
|
||||
X( mjtNum, qfrc_bias, nv, 1 ) \
|
||||
X( mjtNum, qfrc_passive, nv, 1 ) \
|
||||
X( mjtNum, efc_vel, njmax, 1 ) \
|
||||
X( mjtNum, efc_aref, njmax, 1 ) \
|
||||
X( mjtNum, subtree_linvel, nbody, 3 ) \
|
||||
X( mjtNum, subtree_angmom, nbody, 3 ) \
|
||||
X( mjtNum, actuator_force, nu, 1 ) \
|
||||
X( mjtNum, qfrc_actuator, nv, 1 ) \
|
||||
X( mjtNum, qfrc_unc, nv, 1 ) \
|
||||
X( mjtNum, qacc_unc, nv, 1 ) \
|
||||
X( mjtNum, efc_b, njmax, 1 ) \
|
||||
X( mjtNum, efc_force, njmax, 1 ) \
|
||||
X( int, efc_state, njmax, 1 ) \
|
||||
X( mjtNum, qfrc_constraint, nv, 1 ) \
|
||||
X( mjtNum, qfrc_inverse, nv, 1 ) \
|
||||
X( mjtNum, cacc, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_int, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_ext, nbody, 6 )
|
||||
|
||||
|
||||
// scalar fields of mjData
|
||||
#define MJDATA_SCALAR \
|
||||
X( int, nstack ) \
|
||||
X( int, nbuffer ) \
|
||||
X( int, pstack ) \
|
||||
X( int, maxuse_stack ) \
|
||||
X( int, maxuse_con ) \
|
||||
X( int, maxuse_efc ) \
|
||||
X( int, solver_iter ) \
|
||||
X( int, solver_nnz ) \
|
||||
X( int, ne ) \
|
||||
X( int, nf ) \
|
||||
X( int, nefc ) \
|
||||
X( int, ncon ) \
|
||||
X( mjtNum, time )
|
||||
|
||||
|
||||
// vector fields of mjData
|
||||
#define MJDATA_VECTOR \
|
||||
X( mjWarningStat, warning, mjNWARNING, 1 ) \
|
||||
X( mjTimerStat, timer, mjNTIMER, 1 ) \
|
||||
X( mjSolverStat, solver, mjNSOLVER, 1 ) \
|
||||
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
||||
X( mjtNum, energy, 2, 1 )
|
||||
|
||||
#endif // MUJOCO_MJXMACRO_H_
|
||||
Reference in New Issue
Block a user