Add mjd_quatIntegrate, expose mjd_subQuat.

PiperOrigin-RevId: 546252926 Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:32:18 -07:00
parent 7401d6786a
commit 5cfbb6ac8b
13 changed files with 366 additions and 8 deletions
@@ -2494,6 +2494,9 @@ void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuatio
                   mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
                   mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
                   mjtNum *DmDq);
+void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
+void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
+                       mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
 void mjp_defaultPlugin(mjpPlugin* plugin);
 int mjp_registerPlugin(const mjpPlugin* plugin);
 int mjp_pluginCount();