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Add additional data fields that can be reported by rangefinder sensors.

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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
This commit is contained in:
Yuval Tassa
2025-12-23 15:31:53 -08:00
committed by Copybara-Service
parent f2e9097ed6
commit 70bc7be4bc
27 changed files with 712 additions and 133 deletions
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src/user/user_api.cc
+12 -8
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@@ -1274,14 +1274,6 @@ int mjs_sensorDim(const mjsSensor* sensor) {
case mjSENS_CLOCK:
return 1;
case mjSENS_RANGEFINDER:
if (sensor->objtype == mjOBJ_CAMERA) {
const mjCCamera* camera = static_cast<const mjCCamera*>(
static_cast<mjCSensor*>(sensor->element)->get_obj());
return camera->spec.resolution[0] * camera->spec.resolution[1];
}
return 1; // site-attached: single ray
case mjSENS_CAMPROJECTION:
return 2;
@@ -1321,6 +1313,18 @@ int mjs_sensorDim(const mjsSensor* sensor) {
static_cast<mjCSensor*>(sensor->element)->get_obj())
->nvert();
case mjSENS_RANGEFINDER:
{
int size = mju_raydataSize(sensor->intprm[0]);
int num_rays = 1;
if (sensor->objtype == mjOBJ_CAMERA) {
const mjCCamera* camera = static_cast<const mjCCamera*>(
static_cast<mjCSensor*>(sensor->element)->get_obj());
num_rays = camera->spec.resolution[0] * camera->spec.resolution[1];
}
return size * num_rays;
}
case mjSENS_USER:
return sensor->dim;