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Add mjd_quatIntegrate, expose mjd_subQuat.

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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
This commit is contained in:
Yuval Tassa
2023-07-07 05:32:18 -07:00
committed by Copybara-Service
parent 7401d6786a
commit 5cfbb6ac8b
13 changed files with 366 additions and 8 deletions
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introspect/functions.py
+76
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@@ -7973,6 +7973,82 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration) All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): DfDq: (nv x nv) DfDv: (nv x nv) DfDa: (nv x nv) DsDq: (nv x nsensordata) DsDv: (nv x nsensordata) DsDa: (nv x nsensordata) DmDq: (nv x nM) single-letter shortcuts: inputs: q=qpos, v=qvel, a=qacc outputs: f=qfrc_inverse, s=sensordata, m=qM notes: optionally computes mass matrix Jacobian DmDq flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse', # pylint: disable=line-too-long
)),
('mjd_subQuat',
FunctionDecl(
name='mjd_subQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='qa',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='qb',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='Da',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='Db',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
),
doc='Derivatives of mju_subQuat.',
)),
('mjd_quatIntegrate',
FunctionDecl(
name='mjd_quatIntegrate',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vel',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scale',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='Dquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='Dvel',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='Dscale',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
),
doc='Derivatives of mju_quatIntegrate.',
)),
('mjp_defaultPlugin',
FunctionDecl(
name='mjp_defaultPlugin',