Merge pull request #1450 from v-r-a:angmomMat

PiperOrigin-RevId: 612835207 Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
parent 49ddb7ca2e 93f9154d44
commit 6b7d714291
12 changed files with 279 additions and 9 deletions
@@ -2517,6 +2517,7 @@ void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, i
 void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
 void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
                     const mjtNum point[3], const mjtNum axis[3], int body);
+void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
 int mj_name2id(const mjModel* m, int type, const char* name);
 const char* mj_id2name(const mjModel* m, int type, int id);
 void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);