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Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings.

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- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.

PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
This commit is contained in:
Yuval Tassa
2022-11-02 09:21:38 -07:00
committed by Copybara-Service
parent 7458a6e90f
commit c83be2bc05
9 changed files with 85 additions and 24 deletions
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include/mujoco/mujoco.h
+3 -3
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@@ -872,7 +872,7 @@ MJAPI mjtNum mju_normalize4(mjtNum res[4]);
MJAPI void mju_zero(mjtNum* res, int n);
// Set res = val.
MJAPI void mju_fill(mjtNum* res, int n, mjtNum val);
MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
// Set res = vec.
MJAPI void mju_copy(mjtNum* res, const mjtNum* data, int n);
@@ -925,8 +925,8 @@ MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNu
// Transpose matrix: res = mat'.
MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
// Symmetrize square matrix M = (M + M')/2.
MJAPI void mju_symmetrize(mjtNum* mat, int n);
// Symmetrize square matrix res = (mat + mat')/2.
MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
// Set mat to the identity matrix.
MJAPI void mju_eye(mjtNum* mat, int n);