Add mjd_subQuat (private function)

PiperOrigin-RevId: 529418945 Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
2023-05-04 08:39:45 -07:00
parent 88ec9b202e
commit 90813b8198
3 changed files with 151 additions and 1 deletions
@@ -23,6 +23,9 @@
 extern "C" {
 #endif

+// derivative of mju_subQuat w.r.t inputs
+MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
+
 // 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, int flg_bias);