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Add mj_extractState as a public API function.

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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.

PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
This commit is contained in:
Saran Tunyasuvunakool
2025-10-21 10:00:24 -07:00
committed by Copybara-Service
parent 25f5be82ff
commit 2f65e23779
11 changed files with 171 additions and 1 deletions
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doc/APIreference/functions.rst
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@@ -259,6 +259,17 @@ correspond to element fields of :ref:`mjtState`.
Copy concatenated state components specified by ``sig`` from ``d`` into ``state``. The bits of the integer
``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
.. _mj_extractState:
`mj_extractState <#mj_extractState>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_extractState
Extract into ``dst`` the subset of components specified by ``dstsig`` from a state ``src`` previously obtained via
:ref:`mj_getState` with components specified by ``srcsig``. Fails with :ref:`mju_error` if the bits set in ``dstsig``
is not a subset of the bits set in ``srcsig``.
.. _mj_setState:
`mj_setState <#mj_setState>`__
doc/APIreference/functions_override.rst
+6
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@@ -195,6 +195,12 @@ correspond to element fields of :ref:`mjtState`.
Copy concatenated state components specified by ``sig`` from ``d`` into ``state``. The bits of the integer
``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
.. _mj_extractState:
Extract into ``dst`` the subset of components specified by ``dstsig`` from a state ``src`` previously obtained via
:ref:`mj_getState` with components specified by ``srcsig``. Fails with :ref:`mju_error` if the bits set in ``dstsig``
is not a subset of the bits set in ``srcsig``.
.. _mj_setState:
Copy concatenated state components specified by ``sig`` from ``state`` into ``d``. The bits of the integer