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Disable RK4 integrator in mjd_transitionFD by throwing an error and improve documentation for mjd_transitionFD and mjd_inverseFD.

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PiperOrigin-RevId: 659492713
Change-Id: I84ab7ebfba34742f239f60311d8f0a55559995fb
This commit is contained in:
Taylor Howell
2024-08-05 03:17:32 -07:00
committed by Copybara-Service
parent 6a8e28f0e9
commit 20011a2f53
3 changed files with 22 additions and 0 deletions
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doc/APIreference/functions.rst
+9
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@@ -2618,6 +2618,9 @@ These matrices and their dimensions are:
fixed (small) value and solver :ref:`tolerance<option-tolerance>` is set to 0. This insures that
all calls to the solver will perform exactly the same number of iterations.
.. attention::
- The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
.. _mjd_inverseFD:
mjd_inverseFD
@@ -2654,6 +2657,12 @@ using finite-differencing. These matrices and their dimensions are:
- ``eps`` is the (forward) finite-differencing epsilon.
- ``flg_actuation`` denotes whether to subtract actuation forces (``qfrc_actuator``) from the output of the inverse
dynamics. If this flag is positive, actuator forces are not considered as external.
- The model option flag ``invdiscrete`` should correspond to the representation of ``mjData.qacc`` in order to compute
the correct derivative information.
.. attention::
- The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
- The noslip solver is not supported.
.. _mjd_subQuat:
doc/APIreference/functions_override.rst
+9
View File
@@ -592,6 +592,9 @@ These matrices and their dimensions are:
fixed (small) value and solver :ref:`tolerance<option-tolerance>` is set to 0. This insures that
all calls to the solver will perform exactly the same number of iterations.
.. attention::
- The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
.. _mjd_inverseFD:
Finite differenced continuous-time inverse-dynamics Jacobians.
@@ -623,6 +626,12 @@ using finite-differencing. These matrices and their dimensions are:
- ``eps`` is the (forward) finite-differencing epsilon.
- ``flg_actuation`` denotes whether to subtract actuation forces (``qfrc_actuator``) from the output of the inverse
dynamics. If this flag is positive, actuator forces are not considered as external.
- The model option flag ``invdiscrete`` should correspond to the representation of ``mjData.qacc`` in order to compute
the correct derivative information.
.. attention::
- The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
- The noslip solver is not supported.
.. _mjd_subQuat: