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Add ctrl to attached keyframes.

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PiperOrigin-RevId: 662878508
Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725
This commit is contained in:
Alessio Quaglino
2024-08-14 05:13:51 -07:00
committed by Copybara-Service
parent afd7c73f44
commit 7be4df7e03
6 changed files with 51 additions and 22 deletions
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src/user/user_model.h
+3 -2
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@@ -39,6 +39,7 @@ typedef struct mjKeyInfo_ {
bool qpos;
bool qvel;
bool act;
bool ctrl;
} mjKeyInfo;
class mjCModel_ : public mjsElement {
@@ -283,8 +284,8 @@ class mjCModel : public mjCModel_, private mjSpec {
std::string_view name = "");
// save/restore the current state
template <class T> void SaveState(const T* qpos, const T* qvel, const T* act);
template <class T> void RestoreState(const mjtNum* pos0, T* qpos, T* qvel, T* act);
template <class T> void SaveState(const T* qpos, const T* qvel, const T* act, const T* ctrl);
template <class T> void RestoreState(const mjtNum* pos0, T* qpos, T* qvel, T* act, T* ctrl);
// clear existing data
void MakeData(const mjModel* m, mjData** dest);