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
@@ -430,6 +430,9 @@ MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* j
 MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
                           const mjtNum point[3], const mjtNum axis[3], int body);

+// Compute subtree angular momentum matrix.
+MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
+
 // Get id of object with the specified mjtObj type and name, returns -1 if id not found.
 MJAPI int mj_name2id(const mjModel* m, int type, const char* name);