Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

PiperOrigin-RevId: 560161140 Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:07:28 -07:00
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
@@ -67,6 +67,7 @@ const char* mjENABLESTRING[mjNENABLE] = {
  "Energy",
  "Fwdinv",
  "Sensornoise",
+  "InvDiscrete",
  "MultiCCD",
  "Island"
 };
@@ -1122,7 +1123,7 @@ void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* sr
    }
  }

-  mjFREESTACK
+  mjFREESTACK;
 }