Improve pipeline documentation, expose mj_implicit function to public header.

PiperOrigin-RevId: 586380774 Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:11 -08:00
parent 2f37147fc0
commit 822b03446c
8 changed files with 97 additions and 37 deletions
@@ -1156,6 +1156,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
         ),
         doc='Runge-Kutta explicit order-N integrator.',
     )),
+    ('mj_implicit',
+     FunctionDecl(
+         name='mj_implicit',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Implicit-in-velocity integrators.',
+     )),
    ('mj_invPosition',
     FunctionDecl(
         name='mj_invPosition',