Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.

PiperOrigin-RevId: 666318799 Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:07:30 -07:00
parent 8b03daa09b
commit 2efbd31762
7 changed files with 83 additions and 1 deletions
@@ -377,6 +377,8 @@ typedef enum mjtSameFrame_ {      // frame alignment of bodies with their childr
  mjSAMEFRAME_NONE    = 0,        // no alignment
  mjSAMEFRAME_BODY,               // frame is same as body frame
  mjSAMEFRAME_INERTIA,            // frame is same as inertial frame
+  mjSAMEFRAME_BODYROT,            // frame orientation is same as body orientation
+  mjSAMEFRAME_INERTIAROT          // frame orientation is same as inertia orientation
 } mjtSameFrame;