- Add floating changes to changelog.

- Add sections about the state and derivatives to the Computation chapter. PiperOrigin-RevId: 459032736 Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
2022-07-05 02:17:32 -07:00
parent 6d01627c0b
commit d3a86bb748
7 changed files with 240 additions and 56 deletions
@@ -6579,6 +6579,18 @@ mju_sigmoid

 Sigmoid function over 0<=x<=1 constructed from half-quadratics.

+mjd_transitionFD
+~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered, mjtNum* A, mjtNum* B);
+
+Finite differenced state-transition and control-transition matrices dx(t+h) = A*dx(t) + B*du(t).
+  required output matrix dimensions:
+     A: (2*nv+na x 2*nv+na)
+     B: (2*nv+na x nu)
+
 .. _Macros:

 Macros