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Align comments in mjm_ structs.

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PiperOrigin-RevId: 606214754
Change-Id: I4d5ddd98baf52fc71acc1bfca0b345cafda4ce7f
This commit is contained in:
Yuval Tassa
2024-02-12 04:53:04 -08:00
committed by Copybara-Service
parent ff39d0b812
commit ab209c41be
1 changed files with 202 additions and 202 deletions
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src/user/user_api.h
+202 -202
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@@ -35,64 +35,64 @@ typedef struct _mjDouble* mjDouble;
//---------------------------------- enum types (mjt) ---------------------------------------------- //---------------------------------- enum types (mjt) ----------------------------------------------
typedef enum _mjtGeomInertia { // type of inertia inference typedef enum _mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME, // mass distributed in the volume mjINERTIA_VOLUME, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia; } mjtGeomInertia;
//---------------------------------- attribute structs (mjm) --------------------------------------- //---------------------------------- attribute structs (mjm) ---------------------------------------
typedef struct _mjmOrientation { // alternative orientation specifiers typedef struct _mjmOrientation { // alternative orientation specifiers
double axisangle[4]; // rotation axis and angle double axisangle[4]; // rotation axis and angle
double xyaxes[6]; // x and y axes double xyaxes[6]; // x and y axes
double zaxis[3]; // z axis (use minimal rotation) double zaxis[3]; // z axis (use minimal rotation)
double euler[3]; // euler angles double euler[3]; // euler angles
} mjmOrientation; } mjmOrientation;
typedef struct _mjmPlugin { // plugin specification typedef struct _mjmPlugin { // plugin specification
mjElement instance; // internal, do not modify mjElement instance; // internal, do not modify
mjString name; // name mjString name; // name
mjString instance_name; // instance name mjString instance_name; // instance name
bool active; // is the plugin active bool active; // is the plugin active
} mjmPlugin; } mjmPlugin;
typedef struct _mjmBody { // body specification typedef struct _mjmBody { // body specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // childclass name mjString classname; // childclass name
// body frame // body frame
double pos[3]; // frame position double pos[3]; // frame position
double quat[4]; // frame orientation double quat[4]; // frame orientation
mjmOrientation alt; // frame alternative orientation mjmOrientation alt; // frame alternative orientation
// inertial frame // inertial frame
double mass; // mass double mass; // mass
double ipos[3]; // inertial frame position double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation double iquat[4]; // inertial frame orientation
double inertia[3]; // diagonal inertia (in i-frame) double inertia[3]; // diagonal inertia (in i-frame)
mjmOrientation ialt; // inertial frame alternative orientation mjmOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix double fullinertia[6]; // non-axis-aligned inertia matrix
// other // other
mjtByte mocap; // is this a mocap body mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation double gravcomp; // gravity compensation
mjDouble userdata; // user data mjDouble userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjmPlugin plugin; // passive force plugin mjmPlugin plugin; // passive force plugin
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmBody; } mjmBody;
typedef struct _mjmFrame { // frame specification typedef struct _mjmFrame { // frame specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
double pos[3]; // position double pos[3]; // position
double quat[4]; // orientation double quat[4]; // orientation
mjmOrientation alt; // alternative orientation mjmOrientation alt; // alternative orientation
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmFrame; } mjmFrame;
@@ -136,163 +136,163 @@ typedef struct _mjmJoint { // joint specification
} mjmJoint; } mjmJoint;
typedef struct _mjmGeom { // geom specification typedef struct _mjmGeom { // geom specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // classname mjString classname; // classname
mjtGeom type; // geom type mjtGeom type; // geom type
// frame, size // frame, size
double pos[3]; // position double pos[3]; // position
double quat[4]; // orientation double quat[4]; // orientation
mjmOrientation alt; // alternative orientation mjmOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // type-specific size double size[3]; // type-specific size
// contact related // contact related
int contype; // contact type int contype; // contact type
int conaffinity; // contact affinity int conaffinity; // contact affinity
int condim; // contact dimensionality int condim; // contact dimensionality
int priority; // contact priority int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap double gap; // include in solver if dist < margin-gap
// inertia inference // inertia inference
double mass; // used to compute density double mass; // used to compute density
double density; // used to compute mass and inertia from volume or surface double density; // used to compute mass and inertia from volume or surface
mjtGeomInertia typeinertia; // selects between surface and volume inertia mjtGeomInertia typeinertia; // selects between surface and volume inertia
// fluid forces // fluid forces
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual // visual
mjString material; // name of material mjString material; // name of material
float rgba[4]; // rgba when material is omitted float rgba[4]; // rgba when material is omitted
int group; // group int group; // group
// other // other
mjString hfieldname; // heightfield attached to geom mjString hfieldname; // heightfield attached to geom
mjString meshname; // mesh attached to geom mjString meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly double fitscale; // scale mesh uniformly
mjDouble userdata; // user data mjDouble userdata; // user data
mjmPlugin plugin; // sdf plugin mjmPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmGeom; } mjmGeom;
typedef struct _mjmSite { // site specification typedef struct _mjmSite { // site specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
// frame, size // frame, size
double pos[3]; // position double pos[3]; // position
double quat[4]; // orientation double quat[4]; // orientation
mjmOrientation alt; // alternative orientation mjmOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // geom size double size[3]; // geom size
// visual // visual
mjtGeom type; // geom type mjtGeom type; // geom type
mjString material; // name of material mjString material; // name of material
int group; // group int group; // group
float rgba[4]; // rgba when material is omitted float rgba[4]; // rgba when material is omitted
// other // other
mjDouble userdata; // user data mjDouble userdata; // user data
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmSite; } mjmSite;
typedef struct _mjmCamera { // camera specification typedef struct _mjmCamera { // camera specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
// extrinsics // extrinsics
double pos[3]; // position double pos[3]; // position
double quat[4]; // orientation double quat[4]; // orientation
mjmOrientation alt; // alternative orientation mjmOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode mjtCamLight mode; // tracking mode
mjString targetbody; // target body for tracking/targeting mjString targetbody; // target body for tracking/targeting
// intrinsics // intrinsics
double fovy; // y-field of view double fovy; // y-field of view
double ipd; // inter-pupilary distance double ipd; // inter-pupilary distance
float intrinsic[4]; // camera intrinsics (length) float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length) float sensor_size[2]; // sensor size (length)
float resolution[2]; // resolution (pixel) float resolution[2]; // resolution (pixel)
float focal_length[2]; // focal length (length) float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel) float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length) float principal_length[2]; // principal point (length)
float principal_pixel[2]; // principal point (pixel) float principal_pixel[2]; // principal point (pixel)
// other // other
mjDouble userdata; // user data mjDouble userdata; // user data
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmCamera; } mjmCamera;
typedef struct _mjmLight { // light specification typedef struct _mjmLight { // light specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
// frame // frame
double pos[3]; // position double pos[3]; // position
double dir[3]; // direction double dir[3]; // direction
mjtCamLight mode; // tracking mode mjtCamLight mode; // tracking mode
mjString targetbody; // target body for targeting mjString targetbody; // target body for targeting
// intrinsics // intrinsics
mjtByte active; // is light active mjtByte active; // is light active
mjtByte directional; // is light directional or spot mjtByte directional; // is light directional or spot
mjtByte castshadow; // does light cast shadows mjtByte castshadow; // does light cast shadows
float attenuation[3]; // OpenGL attenuation (quadratic model) float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent float exponent; // OpenGL exponent
float ambient[3]; // ambient color float ambient[3]; // ambient color
float diffuse[3]; // diffuse color float diffuse[3]; // diffuse color
float specular[3]; // specular color float specular[3]; // specular color
// other // other
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmLight; } mjmLight;
typedef struct _mjmMaterial { // material specification typedef struct _mjmMaterial { // material specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString texture; // name of texture (empty: none) mjString texture; // name of texture (empty: none)
bool texuniform; // make texture cube uniform bool texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission float emission; // emission
float specular; // specular float specular; // specular
float shininess; // shininess float shininess; // shininess
float reflectance; // reflectance float reflectance; // reflectance
float rgba[4]; // rgba float rgba[4]; // rgba
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmMaterial; } mjmMaterial;
typedef struct _mjmEquality { // equality specification typedef struct _mjmEquality { // equality specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjtEq type; // constraint type mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active mjtByte active; // is equality initially active
mjString name1; // name of object 1 mjString name1; // name of object 1
mjString name2; // name of object 2 mjString name2; // name of object 2
mjtNum solref[mjNREF]; // solver reference mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance mjtNum solimp[mjNIMP]; // solver impedance
mjString info; // message appended to errors mjString info; // message appended to errors
} mjmEquality; } mjmEquality;
@@ -328,82 +328,82 @@ typedef struct _mjmTendon { // tendon specification
} mjmTendon; } mjmTendon;
typedef struct _mjmWrap { // wrapping object specification typedef struct _mjmWrap { // wrapping object specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
mjString info; // message appended to errors mjString info; // message appended to errors
} mjmWrap; } mjmWrap;
typedef struct _mjmActuator { // actuator specification typedef struct _mjmActuator { // actuator specification
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
// gain, bias // gain, bias
mjtGain gaintype; // gain type mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters double biasprm[mjNGAIN]; // bias parameters
// activation state // activation state
mjtDyn dyntype; // dynamics type mjtDyn dyntype; // dynamics type
double dynprm[mjNDYN]; // dynamics parameters double dynprm[mjNDYN]; // dynamics parameters
int actdim; // number of activation variables int actdim; // number of activation variables
int plugin_actdim; // actuator state size for plugins int plugin_actdim; // actuator state size for plugins
mjtByte actearly; // apply next activations to qfrc mjtByte actearly; // apply next activations to qfrc
// transmission // transmission
mjtTrn trntype; // transmission type mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling double gear[6]; // length and transmitted force scaling
mjString target; // name of transmission target mjString target; // name of transmission target
mjString refsite; // reference site, for site transmission mjString refsite; // reference site, for site transmission
mjString slidersite; // site defining cylinder, for slider-crank mjString slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range double lengthrange[2]; // transmission length range
// input/output clamping // input/output clamping
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
double ctrlrange[2]; // control range double ctrlrange[2]; // control range
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
double forcerange[2]; // force range double forcerange[2]; // force range
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
double actrange[2]; // activation range double actrange[2]; // activation range
// other // other
int group; // group int group; // group
mjDouble userdata; // user data mjDouble userdata; // user data
mjmPlugin plugin; // actuator plugin mjmPlugin plugin; // actuator plugin
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmActuator; } mjmActuator;
typedef struct _mjmSensor { // sensor specfication typedef struct _mjmSensor { // sensor specfication
mjElement element; // internal, do not modify mjElement element; // internal, do not modify
mjString name; // name mjString name; // name
mjString classname; // class name mjString classname; // class name
// sensor defintion // sensor defintion
mjtSensor type; // type of sensor mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object mjtObj objtype; // type of sensorized object
mjString objname; // name of sensorized object mjString objname; // name of sensorized object
mjtObj reftype; // type of referenced object mjtObj reftype; // type of referenced object
mjString refname; // name of referenced object mjString refname; // name of referenced object
// user-defined sensors // user-defined sensors
mjtDataType datatype; // data type for sensor measurement mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor mjtStage needstage; // compute stage needed to simulate sensor
int dim; // number of scalar outputs int dim; // number of scalar outputs
// output post-processing // output post-processing
double cutoff; // cutoff for real and positive datatypes double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev double noise; // noise stdev
// other // other
mjDouble userdata; // user data mjDouble userdata; // user data
mjmPlugin plugin; // sensor plugin mjmPlugin plugin; // sensor plugin
mjString info; // message appended to compiler errors mjString info; // message appended to compiler errors
} mjmSensor; } mjmSensor;