chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mj_jacDot: Time derivative of kinematic Jacobian.

Browse Source 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
This commit is contained in:
Yuval Tassa
2024-09-03 04:48:44 -07:00
committed by Copybara-Service
parent fb38727303
commit 2d3d5415b7
12 changed files with 363 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mujoco.h
+4
View File
@@ -456,6 +456,10 @@ MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* j
MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
const mjtNum point[3], const mjtNum axis[3], int body);
// Compute 3/6-by-nv Jacobian time derivative of global point attached to given body.
MJAPI void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
const mjtNum point[3], int body);
// Compute subtree angular momentum matrix.
MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);