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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: