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Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.

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Fixes #703.

PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
This commit is contained in:
Yuval Tassa
2023-04-28 09:03:39 -07:00
committed by Copybara-Service
parent 90e14ac8d0
commit c50177d301
13 changed files with 515 additions and 30 deletions
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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -3826,5 +3826,8 @@ public static unsafe extern double mju_sigmoid(double x);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte flg_centered, double* A, double* B, double* C, double* D);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjd_inverseFD(mjModel_* m, mjData_* d, double eps, byte flg_actuation, double* DfDq, double* DfDv, double* DfDa, double* DsDq, double* DsDv, double* DsDa, double* DmDq);
}
}