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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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src/engine/engine_derivative.h
+5 -1
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@@ -23,9 +23,13 @@
extern "C" {
#endif
// derivative of mju_subQuat w.r.t inputs
// derivatives of mju_subQuat w.r.t inputs
MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
// derivatives of mju_quatIntegrate w.r.t inputs
MJAPI void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
// analytical derivative of smooth forces w.r.t velocities:
// d->qDeriv = d (qfrc_actuator + qfrc_passive - [qfrc_bias]) / d qvel
MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d, int flg_bias);