Add mjtSameFrame enum to specify frame alignment of bodies with their children.

PiperOrigin-RevId: 666303674 Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:16:02 -07:00
parent a2649d6cec
commit 8b03daa09b
13 changed files with 173 additions and 109 deletions
@@ -507,7 +507,7 @@ MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, m
 // Normalize all quaternions in qpos-type vector.
 MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);

-// Map from body local to global Cartesian coordinates.
+// Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.
 MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
                           const mjtNum quat[4], int body, mjtByte sameframe);