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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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src/engine/engine_sensor.c
+4 -4
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@@ -328,12 +328,12 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
get_xpos_xmat(d, reftype, refid, i, &xpos_ref, &xmat_ref);
if (type == mjSENS_FRAMEPOS) {
mju_sub3(rvec, xpos, xpos_ref);
mju_rotVecMatT(d->sensordata+adr, rvec, xmat_ref);
mju_mulMatTVec3(d->sensordata+adr, xmat_ref, rvec);
} else {
// offset = (0 or 1 or 2) for (x or y or z)-axis sensors, respectively
int offset = type - mjSENS_FRAMEXAXIS;
mjtNum axis[3] = {xmat[offset], xmat[offset+3], xmat[offset+6]};
mju_rotVecMatT(d->sensordata+adr, axis, xmat_ref);
mju_mulMatTVec3(d->sensordata+adr, xmat_ref, axis);
}
}
break;
@@ -616,8 +616,8 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
mju_addTo3(rel_vel+3, cross);
// project into reference frame
mju_rotVecMatT(xvel, rel_vel, xmat_ref);
mju_rotVecMatT(xvel+3, rel_vel+3, xmat_ref);
mju_mulMatTVec3(xvel, xmat_ref, rel_vel);
mju_mulMatTVec3(xvel+3, xmat_ref, rel_vel+3);
}
// copy linear or angular component