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Add clock sensor type.

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PiperOrigin-RevId: 459720950
Change-Id: Ibda48ae7dc4aa7be451a947a1c53d10a7eaf176b
This commit is contained in:
Yuval Tassa
2022-07-08 03:49:29 -07:00
committed by Copybara-Service
parent d3a86bb748
commit c14a7ef4a7
10 changed files with 85 additions and 10 deletions
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src/engine/engine_sensor.c
+12 -7
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@@ -113,17 +113,18 @@ static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
mjtNum cutoff = m->sensor_cutoff[i];
// process all dimensions
for (int j=0; j<dim; j++)
for (int j=0; j<dim; j++) {
// real: apply on both sides
if (m->sensor_datatype[i]==mjDATATYPE_REAL)
d->sensordata[adr+j] =
mju_min(cutoff, mju_max(-cutoff, d->sensordata[adr+j]));
if (m->sensor_datatype[i]==mjDATATYPE_REAL) {
d->sensordata[adr+j] = mju_clip(d->sensordata[adr+j], -cutoff, cutoff);
}
// positive: apply on positive side only
else if (m->sensor_datatype[i]==mjDATATYPE_POSITIVE)
d->sensordata[adr+j] =
mju_min(cutoff, d->sensordata[adr+j]);
else if (m->sensor_datatype[i]==mjDATATYPE_POSITIVE) {
d->sensordata[adr+j] = mju_min(cutoff, d->sensordata[adr+j]);
}
}
}
}
}
@@ -312,6 +313,10 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
mju_copy3(d->sensordata+adr, d->subtree_com+3*objid);
break;
case mjSENS_CLOCK: // clock
d->sensordata[adr] = d->time;
break;
case mjSENS_USER: // user
nusersensor++;
break;