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

Migrate mjtByte to mjtBool for boolean-valued fields.

Browse Source 
PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_derivative_fd.h
+2 -2
View File
@@ -33,11 +33,11 @@ MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);
MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
// finite differenced transition matrices (control theory notation)
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
// finite differenced Jacobian of (force, sensors) = mj_inverse(state, acceleration)
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq);