Add mj_jacDot: Time derivative of kinematic Jacobian.

PiperOrigin-RevId: 670505417 Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:48:44 -07:00
parent fb38727303
commit 2d3d5415b7
12 changed files with 363 additions and 37 deletions
@@ -107,6 +107,10 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
              int n, const int* body, const mjtNum* weight,
              const mjtNum point[3], mjtNum* jac, int flg_rot);

+// 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);