chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Clean up handling of auto-limits.

Browse Source 
PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
This commit is contained in:
Yuval Tassa
2024-02-15 02:42:50 -08:00
committed by Copybara-Service
parent d561995c03
commit ddabfb9b6a
5 changed files with 72 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.h
+7 -15
View File
@@ -337,9 +337,8 @@ class mjCJoint : public mjCBase, private mjmJoint {
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
// public getters
bool is_limited() const { return limited_; }
bool is_actfrclimited() const { return actfrclimited_; }
bool is_limited() const;
bool is_actfrclimited() const;
private:
@@ -349,8 +348,7 @@ class mjCJoint : public mjCBase, private mjmJoint {
void PointToLocal(void);
mjCBody* body; // joint's body
bool limited_; // actual (inferred) value of limited
bool actfrclimited_; // actual (inferred) value of actfrclimited
// variable-size data
std::vector<double> userdata_;
std::vector<double> spec_userdata_;
@@ -1087,8 +1085,7 @@ class mjCTendon : public mjCBase, private mjmTendon {
void CopyFromSpec();
void PointToLocal();
// public getters
bool is_limited() const { return limited_; }
bool is_limited() const;
private:
mjCTendon(mjCModel* = 0, mjCDef* = 0); // constructor
@@ -1096,7 +1093,6 @@ class mjCTendon : public mjCBase, private mjmTendon {
void Compile(void); // compiler
int matid; // material id for rendering
bool limited_; // actual (inferred) value of limited
// variable-size data
std::string material_;
@@ -1179,10 +1175,9 @@ class mjCActuator : public mjCBase, private mjmActuator {
const std::string& get_slidersite() { return spec_slidersite_; }
const std::string& get_refsite() { return spec_refsite_; }
// public getters
bool is_ctrllimited() const { return ctrllimited_; }
bool is_forcelimited() const { return forcelimited_; }
bool is_actlimited() const { return actlimited_; }
bool is_ctrllimited() const;
bool is_forcelimited() const;
bool is_actlimited() const;
private:
mjCActuator(mjCModel* = 0, mjCDef* = 0); // constructor
@@ -1191,9 +1186,6 @@ class mjCActuator : public mjCBase, private mjmActuator {
void MakePointerLocal();
int trnid[2]; // id of transmission target
bool ctrllimited_; // actual (inferred) value of ctrllimited
bool forcelimited_; // actual (inferred) value of forcelimited
bool actlimited_; // actual (inferred) value of actlimited
// variable-size data
std::string target_;