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
@@ -1246,6 +1246,13 @@ MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_ac
                         mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
                         mjtNum *DmDq);

+// Derivatives of mju_subQuat.
+MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
+
+// Derivatives of mju_quatIntegrate.
+MJAPI void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
+                             mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
+
 //---------------------- Plugins -------------------------------------------------------------------

 // Set default plugin definition.