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Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c)

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PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
This commit is contained in:
Yuval Tassa
2023-03-16 10:44:21 -07:00
committed by Copybara-Service
parent 1731baa925
commit 9a97674e1e
6 changed files with 648 additions and 587 deletions
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src/engine/engine_derivative.h
-13
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@@ -27,9 +27,6 @@ extern "C" {
// 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_actuator / d qvel) to qDeriv
MJAPI void mjd_actuator_vel(const mjModel* m, mjData* d);
@@ -39,16 +36,6 @@ 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);
// finite differenced transition matrices (control theory notation)
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
#ifdef __cplusplus
}
#endif