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Move mjtConstraint from mjmodel.h to mjdata.h.

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PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
This commit is contained in:
Yuval Tassa
2025-08-24 23:44:25 -07:00
committed by Copybara-Service
parent d77ecb3f06
commit 2b45b39ce5
6 changed files with 58 additions and 58 deletions
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doc/APIreference/APItypes.rst
+11 -11
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@@ -328,17 +328,6 @@ MuJoCo object types. These are used, for example, in the support functions :ref:
.. mujoco-include:: mjtObj
.. _mjtConstraint:
mjtConstraint
~~~~~~~~~~~~~
Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list
of active constraints is constructed at each simulation time step.
.. mujoco-include:: mjtConstraint
.. _mjtSensor:
mjtSensor
@@ -431,6 +420,17 @@ State component elements as integer bitflags and several convenient combinations
.. mujoco-include:: mjtState
.. _mjtConstraint:
mjtConstraint
~~~~~~~~~~~~~
Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list
of active constraints is constructed at each simulation time step.
.. mujoco-include:: mjtConstraint
.. _mjtConstraintState:
mjtConstraintState
doc/includes/references.h
+10 -10
View File
@@ -41,6 +41,16 @@ typedef enum mjtState_ { // state elements
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
@@ -639,16 +649,6 @@ typedef enum mjtObj_ { // type of MujoCo object
mjOBJ_MODEL // entire model
} mjtObj;
typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_EQUALITY = 0, // equality constraint
mjCNSTR_FRICTION_DOF, // dof friction
mjCNSTR_FRICTION_TENDON, // tendon friction
mjCNSTR_LIMIT_JOINT, // joint limit
mjCNSTR_LIMIT_TENDON, // tendon limit
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone