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
@@ -107,6 +107,9 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
              int n, const int* body, const mjtNum* weight,
              const mjtNum point[3], mjtNum* jac, int flg_rot);

+// compute subtree angular momentum matrix
+MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
+

 //-------------------------- name functions --------------------------------------------------------