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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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include/mujoco/mjdata.h
+12
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@@ -51,6 +51,18 @@ typedef enum mjtState_ { // state elements
} 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)
include/mujoco/mjmodel.h
-12
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@@ -291,18 +291,6 @@ typedef enum mjtObj_ { // type of MujoCo object
} 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