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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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src/engine/engine_util_blas.c
+5 -5
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@@ -245,7 +245,7 @@ void mju_zero(mjtNum* res, int n) {
// res = val
void mju_fill(mjtNum* res, int n, mjtNum val) {
void mju_fill(mjtNum* res, mjtNum val, int n) {
for (int i=0; i<n; i++) {
res[i] = val;
}
@@ -740,12 +740,12 @@ void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
// symmetrize square matrix M = (M + M')/2
void mju_symmetrize(mjtNum* mat, int n) {
// symmetrize square matrix res = (mat + mat')/2
void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
for (int i=0; i<n; i++) {
res[i*(n+1)] = mat[i*(n+1)];
for (int j=0; j<i; j++) {
mjtNum tmp = 0.5 * (mat[i*n+j] + mat[j*n+i]);
mat[i*n+j] = mat[j*n+i] = tmp;
res[i*n+j] = res[j*n+i] = 0.5 * (mat[i*n+j] + mat[j*n+i]);
}
}
}
src/engine/engine_util_blas.h
+3 -3
View File
@@ -131,7 +131,7 @@ MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
MJAPI void mju_zero(mjtNum* res, int n);
// res = val
MJAPI void mju_fill(mjtNum* res, int n, mjtNum val);
MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
// res = vec
MJAPI void mju_copy(mjtNum* res, const mjtNum* vec, int n);
@@ -192,8 +192,8 @@ MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNu
// transpose matrix
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);
// identity matrix
MJAPI void mju_eye(mjtNum* mat, int n);