chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island.

Browse Source 
PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
This commit is contained in:
Yuval Tassa
2023-08-31 07:27:34 -07:00
committed by Copybara-Service
parent 9fd186ac2b
commit 85fd922b37
3 changed files with 107 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.h
+4
View File
@@ -38,6 +38,10 @@ MJAPI int mj_isDual(const mjModel* m);
// multiply Jacobian by vector
MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
// multiply Jacobian by vector, for one island
MJAPI void mj_mulJacVec_island(const mjModel* m, mjData* d,
mjtNum* res, const mjtNum* vec, int island);
// multiply JacobianT by vector
MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);