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New implicitfast integrator and sparse RNE derivatives for implicit.

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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
This commit is contained in:
Yuval Tassa
2023-03-15 13:16:45 -07:00
committed by Copybara-Service
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
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src/engine/engine_derivative.h
+12 -6
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@@ -24,17 +24,23 @@ extern "C" {
#endif
// analytical derivative of smooth forces w.r.t velocities:
// d->qDeriv = d (qfrc_actuator + qfrc_passive - qfrc_bias) / d qvel
MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d);
// d->qDeriv = d (qfrc_actuator + qfrc_passive - [qfrc_bias]) / d qvel
MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d, int flg_bias);
// centered finite difference approximation to mjd_smooth_vel
MJAPI void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps);
// add (d qfrc_passive / d qvel) to DfDv
MJAPI void mjd_passive_vel(const mjModel* m, mjData* d, mjtNum* DfDv);
// add (d qfrc_actuator / d qvel) to qDeriv
MJAPI void mjd_actuator_vel(const mjModel* m, mjData* d);
// add forward finite difference approximation of (d qfrc_passive / d qvel) to DfDv
MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps, mjtNum* DfDv);
// add (d qfrc_passive / d qvel) to qDeriv
MJAPI void mjd_passive_vel(const mjModel* m, mjData* d);
// subtract (d qfrc_bias / d qvel) from qDeriv (dense version)
MJAPI void mjd_rne_vel_dense(const mjModel* m, mjData* d);
// add forward finite difference approximation of (d qfrc_passive / d qvel) to qDeriv
MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);
// advance simulation using control callback, skipstage is mjtStage
MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);