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Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

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These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
This commit is contained in:
Yuval Tassa
2024-06-16 10:01:31 -07:00
committed by Copybara-Service
parent 739512a0e4
commit 6067048537
33 changed files with 233 additions and 117 deletions
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doc/APIreference/functions.rst
+20 -2
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@@ -3102,6 +3102,24 @@ mju_dist3
Return Cartesian distance between 3D vectors pos1 and pos2.
.. _mju_mulMatVec3:
mju_mulMatVec3
~~~~~~~~~~~~~~
.. mujoco-include:: mju_mulMatVec3
Multiply 3-by-3 matrix by vector: res = mat * vec.
.. _mju_mulMatTVec3:
mju_mulMatTVec3
~~~~~~~~~~~~~~~
.. mujoco-include:: mju_mulMatTVec3
Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
.. _mju_rotVecMat:
mju_rotVecMat
@@ -3109,7 +3127,7 @@ mju_rotVecMat
.. mujoco-include:: mju_rotVecMat
Multiply vector by 3D rotation matrix: res = mat * vec.
Deprecated, use mju_mulMatVec3(res, mat, vec).
.. _mju_rotVecMatT:
@@ -3118,7 +3136,7 @@ mju_rotVecMatT
.. mujoco-include:: mju_rotVecMatT
Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
Deprecated, use mju_mulMatTVec3(res, mat, vec).
.. _mju_cross:
doc/changelog.rst
+5 -3
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@@ -23,12 +23,14 @@ General
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
4. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
5. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
6. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
MJX
~~~
6. Added support for :ref:`elliptic friction cones<option-cone>`.
7. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
8. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
7. Added support for :ref:`elliptic friction cones<option-cone>`.
8. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
9. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
Version 3.1.6 (Jun 3, 2024)
---------------------------
doc/includes/references.h
+2
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@@ -3363,6 +3363,8 @@ mjtNum mju_normalize3(mjtNum vec[3]);
mjtNum mju_norm3(const mjtNum vec[3]);
mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);