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Add mju_euler2Quat.

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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
This commit is contained in:
Yuval Tassa
2024-04-10 06:01:40 -07:00
committed by Copybara-Service
parent 2b3f336bd3
commit 5a365603f8
11 changed files with 176 additions and 8 deletions
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doc/APIreference/functions.rst
+10
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@@ -2840,6 +2840,16 @@ mju_quatZ2Vec
Construct quaternion performing rotation from z-axis to given vector.
.. _mju_euler2Quat:
mju_euler2Quat
~~~~~~~~~~~~~~
.. mujoco-include:: mju_euler2Quat
Convert sequence of Euler angles (radians) to quaternion.
seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations.
.. _Poses:
Poses
doc/changelog.rst
+6 -2
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@@ -5,10 +5,14 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
MJX
^^^
1. Added support for userdata.
2. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
2. Added support for userdata.
3. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
Version 3.1.4 (April 8th, 2024)
-------------------------------
doc/includes/references.h
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@@ -2742,6 +2742,7 @@ void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
const mjtNum pos1[3], const mjtNum quat1[4],
const mjtNum pos2[3], const mjtNum quat2[4]);