Autogenerate functions.rst for API reference docs.
PiperOrigin-RevId: 501496950 Change-Id: I92ab013e6acb4d6772eb5dcf56740105908afc97
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
15c2e0362a
commit
deb14dc081
+1
-1
@@ -58,7 +58,7 @@ templates_path = ['templates']
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# This pattern also affects html_static_path and html_extra_path.
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exclude_patterns = [
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'_build', 'Thumbs.db', '.DS_Store', 'includes/*', 'functions.rst',
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'XMLschema.rst'
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'functions_override.rst', 'XMLschema.rst'
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]
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redirects = {
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@@ -38,7 +38,7 @@ _STRUCT_END_REGEX_2 = re.compile(r'^}\s+(?P<token>mj\w+);')
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_ENUM_END_REGEX = re.compile(r'^}\s+(?P<token>mj\w+);')
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@dataclasses.dataclass(frozen=True)
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@dataclasses.dataclass
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class ApiDefinition:
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"""Defines a C reference parsed from a C header file."""
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token: str
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+212
-68
@@ -1,3 +1,7 @@
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..
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AUTOGENERATE: DO NOT EDIT
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.. _Activation:
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Activation
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@@ -12,7 +16,7 @@ mj_activate
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.. mujoco-include:: mj_activate
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Does nothing, returns 1.
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Return 1 (for backward compatibility).
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.. _mj_deactivate:
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@@ -21,7 +25,7 @@ mj_deactivate
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.. mujoco-include:: mj_deactivate
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Does nothing.
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Do nothing (for backward compatibility).
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.. _Virtualfilesystem:
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@@ -58,7 +62,7 @@ mj_addFileVFS
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.. mujoco-include:: mj_addFileVFS
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Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: not found on disk.
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Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
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.. _mj_makeEmptyFileVFS:
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@@ -112,8 +116,9 @@ mj_loadXML
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.. mujoco-include:: mj_loadXML
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Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs
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before reading from disk. If error is not NULL, it must have size error_sz.
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Parse XML file in MJCF or URDF format, compile it, return low-level model.
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If vfs is not ``NULL``, look up files in vfs before reading from disk.
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If error is not ``NULL``, it must have size error_sz.
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.. _mj_saveLastXML:
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@@ -122,8 +127,8 @@ mj_saveLastXML
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.. mujoco-include:: mj_saveLastXML
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Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size
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error_sz.
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Update XML data structures with info from low-level model, save as MJCF.
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If error is not ``NULL``, it must have size error_sz.
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.. _mj_freeLastXML:
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@@ -286,7 +291,7 @@ mj_copyModel
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.. mujoco-include:: mj_copyModel
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Copy mjModel, allocate new if dest is NULL.
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Copy ``mjModel``, allocate new if dest is ``NULL``.
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.. _mj_saveModel:
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@@ -304,7 +309,8 @@ mj_loadModel
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.. mujoco-include:: mj_loadModel
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Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.
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Load model from binary MJB file.
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If vfs is not ``NULL``, look up file in vfs before reading from disk.
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.. _mj_deleteModel:
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@@ -331,7 +337,8 @@ mj_makeData
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.. mujoco-include:: mj_makeData
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Allocate mjData corresponding to given model.
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Allocate ``mjData`` corresponding to given model.
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If the model buffer is unallocated the initial configuration will not be set.
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.. _mj_copyData:
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@@ -340,7 +347,8 @@ mj_copyData
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.. mujoco-include:: mj_copyData
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Copy mjData.
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Copy ``mjData``.
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m is only required to contain the size fields from MJMODEL_INTS.
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.. _mj_resetData:
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@@ -376,7 +384,7 @@ mj_stackAlloc
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.. mujoco-include:: mj_stackAlloc
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Allocate array of specified size on mjData stack. Call mju_error on stack overflow.
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Allocate array of specified size on ``mjData`` stack. Call mju_error on stack overflow.
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.. _mj_deleteData:
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@@ -385,7 +393,7 @@ mj_deleteData
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.. mujoco-include:: mj_deleteData
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Free memory allocation in mjData.
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Free memory allocation in ``mjData``.
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.. _mj_resetCallbacks:
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@@ -394,7 +402,7 @@ mj_resetCallbacks
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.. mujoco-include:: mj_resetCallbacks
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Reset all callbacks to NULL pointers (NULL is the default).
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Reset all callbacks to ``NULL`` pointers (``NULL`` is the default).
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.. _mj_setConst:
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@@ -403,7 +411,7 @@ mj_setConst
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.. mujoco-include:: mj_setConst
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Set constant fields of mjModel, corresponding to qpos0 configuration.
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Set constant fields of ``mjModel``, corresponding to qpos0 configuration.
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.. _mj_setLengthRange:
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@@ -421,7 +429,6 @@ Printing
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These functions can be used to print various quantities to the screen for debugging purposes.
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.. _mj_printFormattedModel:
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mj_printFormattedModel
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@@ -429,8 +436,8 @@ mj_printFormattedModel
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.. mujoco-include:: mj_printFormattedModel
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Print ``mjModel`` to text file, specifying format. ``float_format`` must be a valid printf-style format string for a
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single float value.
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Print ``mjModel`` to text file, specifying format.
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float_format must be a valid printf-style format string for a single float value.
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.. _mj_printModel:
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@@ -444,12 +451,12 @@ Print model to text file.
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.. _mj_printFormattedData:
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mj_printFormattedData
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~~~~~~~~~~~~~~~~~~~~~~
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~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_printFormattedData
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Print ``mjData`` to text file, specifying format. ``float_format`` must be a valid printf-style format string for a
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single float value.
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Print ``mjData`` to text file, specifying format.
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float_format must be a valid printf-style format string for a single float value
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.. _mj_printData:
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@@ -683,6 +690,8 @@ mj_comPos
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Map inertias and motion dofs to global frame centered at CoM.
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.. _mj_camlight:
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mj_camlight
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~~~~~~~~~~~
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@@ -690,6 +699,8 @@ mj_camlight
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Compute camera and light positions and orientations.
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.. _mj_tendon:
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mj_tendon
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~~~~~~~~~
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@@ -697,6 +708,8 @@ mj_tendon
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Compute tendon lengths, velocities and moment arms.
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.. _mj_transmission:
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mj_transmission
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~~~~~~~~~~~~~~~
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@@ -704,6 +717,8 @@ mj_transmission
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Compute actuator transmission lengths and moments.
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.. _mj_crb:
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mj_crb
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~~~~~~
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@@ -747,6 +762,8 @@ mj_comVel
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Compute cvel, cdof_dot.
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.. _mj_passive:
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mj_passive
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~~~~~~~~~~
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@@ -763,6 +780,8 @@ mj_subtreeVel
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subtree linear velocity and angular momentum
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.. _mj_rne:
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mj_rne
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~~~~~~
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@@ -815,14 +834,14 @@ mj_referenceConstraint
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Compute efc_vel, efc_aref.
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. _mj_constraintUpdate:
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.. _mj_constraintUpdate:
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mj_constraintUpdate
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~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_constraintUpdate
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Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set \*cost = s(jar)
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Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not ``NULL``, set \*cost = s(jar)
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where jar = Jac*qacc-aref.
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.. _Support:
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@@ -877,7 +896,7 @@ mj_mulJacVec
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.. mujoco-include:: mj_mulJacVec
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This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
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This function multiplies the constraint Jacobian ``mjData.efc_J`` by a vector. Note that the Jacobian can be either dense or
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sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
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.. _mj_mulJacTVec:
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@@ -899,7 +918,7 @@ mj_jac
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This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body
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can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated
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as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for
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as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing ``NULL`` for
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either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the
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gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability
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to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it!
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@@ -930,7 +949,7 @@ mj_jacSubtreeCom
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.. mujoco-include:: mj_jacSubtreeCom
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Compute subtree center-of-mass end-effector Jacobian. ``jacp`` is 3 x nv.
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Compute subtree center-of-mass end-effector Jacobian.
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.. _mj_jacGeom:
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@@ -993,7 +1012,7 @@ mj_mulM
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.. mujoco-include:: mj_mulM
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This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
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This function multiplies the joint-space inertia matrix stored in ``mjData.qM`` by a vector. qM has a custom sparse format
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that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
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mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
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sparsity.
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@@ -1014,7 +1033,8 @@ mj_addM
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.. mujoco-include:: mj_addM
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Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int\* are NULL
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Add inertia matrix to destination matrix.
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Destination can be sparse uncompressed, or dense when all int* are ``NULL``
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.. _mj_applyFT:
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@@ -1024,7 +1044,7 @@ mj_applyFT
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.. mujoco-include:: mj_applyFT
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This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
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mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
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``mjData.qfrc_applied`` of all applied forces. Note that the function requires a pointer to this vector, because sometimes
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we want to add the result to a different vector.
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.. _mj_objectVelocity:
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@@ -1113,6 +1133,36 @@ mj_setTotalmass
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Scale body masses and inertias to achieve specified total mass.
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.. _mj_getPluginConfig:
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mj_getPluginConfig
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~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_getPluginConfig
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Return a config attribute value of a plugin instance;
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``NULL``: invalid plugin instance ID or attribute name
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.. _mj_loadPluginLibrary:
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mj_loadPluginLibrary
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~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_loadPluginLibrary
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Load a dynamic library. The dynamic library is assumed to register one or more plugins.
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.. _mj_loadAllPluginLibraries:
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mj_loadAllPluginLibraries
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~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_loadAllPluginLibraries
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Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
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are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
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for each dynamic library encountered that registers plugins.
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.. _mj_version:
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mj_version
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@@ -1122,7 +1172,7 @@ mj_version
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Return version number: 1.0.2 is encoded as 102.
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.. mj_versionString:
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.. _mj_versionString:
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mj_versionString
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~~~~~~~~~~~~~~~~
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@@ -1155,7 +1205,7 @@ mj_ray
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Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return geomid and distance (x) to
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nearest surface, or -1 if no intersection.
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geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip
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geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=``NULL`` to skip
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group exclusion.
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If flg_static is 0, static geoms will be excluded.
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bodyexclude=-1 can be used to indicate that all bodies are included.
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@@ -1167,7 +1217,7 @@ mj_rayHfield
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.. mujoco-include:: mj_rayHfield
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Interect ray with hfield, return nearest distance or -1 if no intersection.
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Intersect ray with hfield, return nearest distance or -1 if no intersection.
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.. _mj_rayMesh:
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@@ -1176,7 +1226,7 @@ mj_rayMesh
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.. mujoco-include:: mj_rayMesh
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Interect ray with mesh, return nearest distance or -1 if no intersection.
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Intersect ray with mesh, return nearest distance or -1 if no intersection.
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.. _mju_rayGeom:
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@@ -1185,7 +1235,7 @@ mju_rayGeom
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.. mujoco-include:: mju_rayGeom
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Interect ray with pure geom, return nearest distance or -1 if no intersection.
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Intersect ray with pure geom, return nearest distance or -1 if no intersection.
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.. _mju_raySkin:
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@@ -1194,7 +1244,8 @@ mju_raySkin
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.. mujoco-include:: mju_raySkin
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Interect ray with skin, return nearest vertex id.
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Intersect ray with skin, return nearest distance or -1 if no intersection,
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and also output nearest vertex id.
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.. _Interaction:
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@@ -1328,8 +1379,8 @@ mjv_applyPerturbPose
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.. mujoco-include:: mjv_applyPerturbPose
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Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. Write d->qpos only if flg_paused
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and subtree root for selected body has free joint.
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Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
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Write d->qpos only if flg_paused and subtree root for selected body has free joint.
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.. _mjv_applyPerturbForce:
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@@ -1396,7 +1447,7 @@ mjv_initGeom
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.. mujoco-include:: mjv_initGeom
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Initialize given geom fields when not NULL, set the rest to their default values.
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Initialize given geom fields when not ``NULL``, set the rest to their default values.
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.. _mjv_makeConnector:
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@@ -1405,8 +1456,8 @@ mjv_makeConnector
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.. mujoco-include:: mjv_makeConnector
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Set (type, size, pos, mat) for connector-type geom between given points. Assume that mjv_initGeom was already called to
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set all other properties.
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Set (type, size, pos, mat) for connector-type geom between given points.
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Assume that mjv_initGeom was already called to set all other properties.
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.. _mjv_defaultScene:
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@@ -1576,8 +1627,8 @@ mjr_setBuffer
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.. mujoco-include:: mjr_setBuffer
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Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer
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and ignore framebuffer argument.
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Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
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If only one buffer is available, set that buffer and ignore framebuffer argument.
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.. _mjr_readPixels:
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@@ -1586,8 +1637,8 @@ mjr_readPixels
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.. mujoco-include:: mjr_readPixels
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Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at
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(0,0).
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Read pixels from current OpenGL framebuffer to client buffer.
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Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
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.. _mjr_drawPixels:
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@@ -1596,8 +1647,8 @@ mjr_drawPixels
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.. mujoco-include:: mjr_drawPixels
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Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at
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(0,0).
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Draw pixels from client buffer to current OpenGL framebuffer.
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Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
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.. _mjr_blitBuffer:
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@@ -1606,8 +1657,8 @@ mjr_blitBuffer
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.. mujoco-include:: mjr_blitBuffer
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Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and
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flg_depth==0, color is interpolated with GL_LINEAR.
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Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
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If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
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.. _mjr_setAux:
|
||||
|
||||
@@ -1666,7 +1717,7 @@ Draw rectangle.
|
||||
.. _mjr_label:
|
||||
|
||||
mjr_label
|
||||
~~~~~~~~~~~~~
|
||||
~~~~~~~~~
|
||||
|
||||
.. mujoco-include:: mjr_label
|
||||
|
||||
@@ -1740,6 +1791,8 @@ mjui_themeColor
|
||||
|
||||
Get builtin UI theme color (ind: 0-3).
|
||||
|
||||
.. _mjui_add:
|
||||
|
||||
mjui_add
|
||||
~~~~~~~~
|
||||
|
||||
@@ -1747,6 +1800,8 @@ mjui_add
|
||||
|
||||
Add definitions to UI.
|
||||
|
||||
.. _mjui_addToSection:
|
||||
|
||||
mjui_addToSection
|
||||
~~~~~~~~~~~~~~~~~
|
||||
|
||||
@@ -1754,6 +1809,8 @@ mjui_addToSection
|
||||
|
||||
Add definitions to UI section.
|
||||
|
||||
.. _mjui_resize:
|
||||
|
||||
mjui_resize
|
||||
~~~~~~~~~~~
|
||||
|
||||
@@ -1770,12 +1827,16 @@ mjui_update
|
||||
|
||||
Update specific section/item; -1: update all.
|
||||
|
||||
.. _mjui_event:
|
||||
|
||||
mjui_event
|
||||
~~~~~~~~~~
|
||||
|
||||
.. mujoco-include:: mjui_event
|
||||
|
||||
Handle UI event, return pointer to changed item, NULL if no change.
|
||||
Handle UI event, return pointer to changed item, ``NULL`` if no change.
|
||||
|
||||
.. _mjui_render:
|
||||
|
||||
mjui_render
|
||||
~~~~~~~~~~~
|
||||
@@ -1825,6 +1886,8 @@ mju_warning
|
||||
|
||||
Main warning function; returns to caller.
|
||||
|
||||
.. _mju_warning_i:
|
||||
|
||||
mju_warning_i
|
||||
~~~~~~~~~~~~~
|
||||
|
||||
@@ -1832,6 +1895,8 @@ mju_warning_i
|
||||
|
||||
Warning function with int argument.
|
||||
|
||||
.. _mju_warning_s:
|
||||
|
||||
mju_warning_s
|
||||
~~~~~~~~~~~~~
|
||||
|
||||
@@ -1873,7 +1938,7 @@ mj_warning
|
||||
|
||||
.. mujoco-include:: mj_warning
|
||||
|
||||
High-level warning function: count warnings in mjData, print only the first.
|
||||
High-level warning function: count warnings in ``mjData``, print only the first.
|
||||
|
||||
.. _mju_writeLog:
|
||||
|
||||
@@ -2006,6 +2071,8 @@ mju_ceil
|
||||
Vector math
|
||||
^^^^^^^^^^^
|
||||
|
||||
.. _mju_zero3:
|
||||
|
||||
mju_zero3
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2013,6 +2080,8 @@ mju_zero3
|
||||
|
||||
Set res = 0.
|
||||
|
||||
.. _mju_copy3:
|
||||
|
||||
mju_copy3
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2020,6 +2089,8 @@ mju_copy3
|
||||
|
||||
Set res = vec.
|
||||
|
||||
.. _mju_scl3:
|
||||
|
||||
mju_scl3
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2027,6 +2098,8 @@ mju_scl3
|
||||
|
||||
Set res = vec*scl.
|
||||
|
||||
.. _mju_add3:
|
||||
|
||||
mju_add3
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2034,6 +2107,8 @@ mju_add3
|
||||
|
||||
Set res = vec1 + vec2.
|
||||
|
||||
.. _mju_sub3:
|
||||
|
||||
mju_sub3
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2077,6 +2152,8 @@ mju_addScl3
|
||||
|
||||
Set res = vec1 + vec2*scl.
|
||||
|
||||
.. _mju_normalize3:
|
||||
|
||||
mju_normalize3
|
||||
~~~~~~~~~~~~~~
|
||||
|
||||
@@ -2084,6 +2161,8 @@ mju_normalize3
|
||||
|
||||
Normalize vector, return length before normalization.
|
||||
|
||||
.. _mju_norm3:
|
||||
|
||||
mju_norm3
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2091,6 +2170,8 @@ mju_norm3
|
||||
|
||||
Return vector length (without normalizing the vector).
|
||||
|
||||
.. _mju_dot3:
|
||||
|
||||
mju_dot3
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2098,6 +2179,8 @@ mju_dot3
|
||||
|
||||
Return dot-product of vec1 and vec2.
|
||||
|
||||
.. _mju_dist3:
|
||||
|
||||
mju_dist3
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2112,7 +2195,7 @@ mju_rotVecMat
|
||||
|
||||
.. mujoco-include:: mju_rotVecMat
|
||||
|
||||
Multiply vector by 3D rotation matrix: res = mat \* vec.
|
||||
Multiply vector by 3D rotation matrix: res = mat * vec.
|
||||
|
||||
.. _mju_rotVecMatT:
|
||||
|
||||
@@ -2121,7 +2204,9 @@ mju_rotVecMatT
|
||||
|
||||
.. mujoco-include:: mju_rotVecMatT
|
||||
|
||||
Multiply vector by transposed 3D rotation matrix: res = mat' \* vec.
|
||||
Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
|
||||
|
||||
.. _mju_cross:
|
||||
|
||||
mju_cross
|
||||
~~~~~~~~~
|
||||
@@ -2130,6 +2215,8 @@ mju_cross
|
||||
|
||||
Compute cross-product: res = cross(a, b).
|
||||
|
||||
.. _mju_zero4:
|
||||
|
||||
mju_zero4
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2137,6 +2224,8 @@ mju_zero4
|
||||
|
||||
Set res = 0.
|
||||
|
||||
.. _mju_unit4:
|
||||
|
||||
mju_unit4
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2144,6 +2233,8 @@ mju_unit4
|
||||
|
||||
Set res = (1,0,0,0).
|
||||
|
||||
.. _mju_copy4:
|
||||
|
||||
mju_copy4
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2151,6 +2242,8 @@ mju_copy4
|
||||
|
||||
Set res = vec.
|
||||
|
||||
.. _mju_normalize4:
|
||||
|
||||
mju_normalize4
|
||||
~~~~~~~~~~~~~~
|
||||
|
||||
@@ -2158,6 +2251,8 @@ mju_normalize4
|
||||
|
||||
Normalize vector, return length before normalization.
|
||||
|
||||
.. _mju_zero:
|
||||
|
||||
mju_zero
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2174,6 +2269,8 @@ mju_fill
|
||||
|
||||
Set res = val.
|
||||
|
||||
.. _mju_copy:
|
||||
|
||||
mju_copy
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2181,6 +2278,8 @@ mju_copy
|
||||
|
||||
Set res = vec.
|
||||
|
||||
.. _mju_sum:
|
||||
|
||||
mju_sum
|
||||
~~~~~~~
|
||||
|
||||
@@ -2206,6 +2305,8 @@ mju_scl
|
||||
|
||||
Set res = vec*scl.
|
||||
|
||||
.. _mju_add:
|
||||
|
||||
mju_add
|
||||
~~~~~~~
|
||||
|
||||
@@ -2213,6 +2314,8 @@ mju_add
|
||||
|
||||
Set res = vec1 + vec2.
|
||||
|
||||
.. _mju_sub:
|
||||
|
||||
mju_sub
|
||||
~~~~~~~
|
||||
|
||||
@@ -2256,6 +2359,8 @@ mju_addScl
|
||||
|
||||
Set res = vec1 + vec2*scl.
|
||||
|
||||
.. _mju_normalize:
|
||||
|
||||
mju_normalize
|
||||
~~~~~~~~~~~~~
|
||||
|
||||
@@ -2263,6 +2368,8 @@ mju_normalize
|
||||
|
||||
Normalize vector, return length before normalization.
|
||||
|
||||
.. _mju_norm:
|
||||
|
||||
mju_norm
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2270,6 +2377,8 @@ mju_norm
|
||||
|
||||
Return vector length (without normalizing vector).
|
||||
|
||||
.. _mju_dot:
|
||||
|
||||
mju_dot
|
||||
~~~~~~~
|
||||
|
||||
@@ -2284,7 +2393,7 @@ mju_mulMatVec
|
||||
|
||||
.. mujoco-include:: mju_mulMatVec
|
||||
|
||||
Multiply matrix and vector: res = mat \* vec.
|
||||
Multiply matrix and vector: res = mat * vec.
|
||||
|
||||
.. _mju_mulMatTVec:
|
||||
|
||||
@@ -2293,7 +2402,7 @@ mju_mulMatTVec
|
||||
|
||||
.. mujoco-include:: mju_mulMatTVec
|
||||
|
||||
Multiply transposed matrix and vector: res = mat' \* vec.
|
||||
Multiply transposed matrix and vector: res = mat' * vec.
|
||||
|
||||
.. _mju_mulVecMatVec:
|
||||
|
||||
@@ -2302,7 +2411,9 @@ mju_mulVecMatVec
|
||||
|
||||
.. mujoco-include:: mju_mulVecMatVec
|
||||
|
||||
Multiply square matrix with vectors on both sides: return vec1' \* mat \* vec2.
|
||||
Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
|
||||
|
||||
.. _mju_transpose:
|
||||
|
||||
mju_transpose
|
||||
~~~~~~~~~~~~~
|
||||
@@ -2336,7 +2447,7 @@ mju_mulMatMat
|
||||
|
||||
.. mujoco-include:: mju_mulMatMat
|
||||
|
||||
Multiply matrices: res = mat1 \* mat2.
|
||||
Multiply matrices: res = mat1 * mat2.
|
||||
|
||||
.. _mju_mulMatMatT:
|
||||
|
||||
@@ -2345,7 +2456,7 @@ mju_mulMatMatT
|
||||
|
||||
.. mujoco-include:: mju_mulMatMatT
|
||||
|
||||
Multiply matrices, second argument transposed: res = mat1 \* mat2'.
|
||||
Multiply matrices, second argument transposed: res = mat1 * mat2'.
|
||||
|
||||
.. _mju_mulMatTMat:
|
||||
|
||||
@@ -2354,7 +2465,7 @@ mju_mulMatTMat
|
||||
|
||||
.. mujoco-include:: mju_mulMatTMat
|
||||
|
||||
Multiply matrices, first argument transposed: res = mat1' \* mat2.
|
||||
Multiply matrices, first argument transposed: res = mat1' * mat2.
|
||||
|
||||
.. _mju_sqrMatTD:
|
||||
|
||||
@@ -2363,7 +2474,7 @@ mju_sqrMatTD
|
||||
|
||||
.. mujoco-include:: mju_sqrMatTD
|
||||
|
||||
Set res = mat' \* diag \* mat if diag is not NULL, and res = mat' \* mat otherwise.
|
||||
Set res = mat' * diag * mat if diag is not ``NULL``, and res = mat' * mat otherwise.
|
||||
|
||||
.. _mju_transformSpatial:
|
||||
|
||||
@@ -2372,8 +2483,8 @@ mju_transformSpatial
|
||||
|
||||
.. mujoco-include:: mju_transformSpatial
|
||||
|
||||
Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no
|
||||
rotation; flg_force specifies force or motion type.
|
||||
Coordinate transform of 6D motion or force vector in rotation:translation format.
|
||||
rotnew2old is 3-by-3, ``NULL`` means no rotation; flg_force specifies force or motion type.
|
||||
|
||||
.. _Quaternions:
|
||||
|
||||
@@ -2396,7 +2507,7 @@ mju_negQuat
|
||||
|
||||
.. mujoco-include:: mju_negQuat
|
||||
|
||||
Negate quaternion.
|
||||
Conjugate quaternion, corresponding to opposite rotation.
|
||||
|
||||
.. _mju_mulQuat:
|
||||
|
||||
@@ -2509,7 +2620,7 @@ mju_negPose
|
||||
|
||||
.. mujoco-include:: mju_negPose
|
||||
|
||||
Negate pose.
|
||||
Conjugate pose, corresponding to the opposite spatial transformation.
|
||||
|
||||
.. _mju_trnVecPose:
|
||||
|
||||
@@ -2522,8 +2633,8 @@ Transform vector by pose.
|
||||
|
||||
.. _Decompositions:
|
||||
|
||||
Decompositions
|
||||
^^^^^^^^^^^^^^
|
||||
Decompositions / Solvers
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
.. _mju_cholFactor:
|
||||
|
||||
@@ -2541,7 +2652,7 @@ mju_cholSolve
|
||||
|
||||
.. mujoco-include:: mju_cholSolve
|
||||
|
||||
Solve mat \* res = vec, where mat is Cholesky-factorized
|
||||
Solve mat * res = vec, where mat is Cholesky-factorized
|
||||
|
||||
.. _mju_cholUpdate:
|
||||
|
||||
@@ -2552,6 +2663,8 @@ mju_cholUpdate
|
||||
|
||||
Cholesky rank-one update: L*L' +/- x*x'; return rank.
|
||||
|
||||
.. _mju_eig3:
|
||||
|
||||
mju_eig3
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2687,6 +2800,17 @@ mju_max
|
||||
|
||||
Return max(a,b) with single evaluation of a and b.
|
||||
|
||||
.. _mju_clip:
|
||||
|
||||
mju_clip
|
||||
~~~~~~~~
|
||||
|
||||
.. mujoco-include:: mju_clip
|
||||
|
||||
Clip x to the range [min, max].
|
||||
|
||||
.. _mju_sign:
|
||||
|
||||
mju_sign
|
||||
~~~~~~~~
|
||||
|
||||
@@ -2694,6 +2818,8 @@ mju_sign
|
||||
|
||||
Return sign of x: +1, -1 or 0.
|
||||
|
||||
.. _mju_round:
|
||||
|
||||
mju_round
|
||||
~~~~~~~~~
|
||||
|
||||
@@ -2726,7 +2852,7 @@ mju_writeNumBytes
|
||||
|
||||
.. mujoco-include:: mju_writeNumBytes
|
||||
|
||||
Construct a human readable number of bytes using standard letter suffix.
|
||||
Return human readable number of bytes using standard letter suffix.
|
||||
|
||||
.. _mju_warningText:
|
||||
|
||||
@@ -2764,6 +2890,8 @@ mju_standardNormal
|
||||
|
||||
Standard normal random number generator (optional second number).
|
||||
|
||||
.. _mju_f2n:
|
||||
|
||||
mju_f2n
|
||||
~~~~~~~
|
||||
|
||||
@@ -2771,6 +2899,8 @@ mju_f2n
|
||||
|
||||
Convert from float to mjtNum.
|
||||
|
||||
.. _mju_n2f:
|
||||
|
||||
mju_n2f
|
||||
~~~~~~~
|
||||
|
||||
@@ -2778,6 +2908,8 @@ mju_n2f
|
||||
|
||||
Convert from mjtNum to float.
|
||||
|
||||
.. _mju_d2n:
|
||||
|
||||
mju_d2n
|
||||
~~~~~~~
|
||||
|
||||
@@ -2785,6 +2917,8 @@ mju_d2n
|
||||
|
||||
Convert from double to mjtNum.
|
||||
|
||||
.. _mju_n2d:
|
||||
|
||||
mju_n2d
|
||||
~~~~~~~
|
||||
|
||||
@@ -2819,6 +2953,8 @@ mju_Halton
|
||||
|
||||
Generate Halton sequence.
|
||||
|
||||
.. _mju_strncpy:
|
||||
|
||||
mju_strncpy
|
||||
~~~~~~~~~~~
|
||||
|
||||
@@ -2826,6 +2962,8 @@ mju_strncpy
|
||||
|
||||
Call strncpy, then set dst[n-1] = 0.
|
||||
|
||||
.. _mju_sigmoid:
|
||||
|
||||
mju_sigmoid
|
||||
~~~~~~~~~~~
|
||||
|
||||
@@ -2833,6 +2971,11 @@ mju_sigmoid
|
||||
|
||||
Sigmoid function over 0<=x<=1 constructed from half-quadratics.
|
||||
|
||||
.. _Derivatives-api:
|
||||
|
||||
Derivatives
|
||||
^^^^^^^^^^^
|
||||
|
||||
.. _mjd_transitionFD:
|
||||
|
||||
mjd_transitionFD
|
||||
@@ -2842,3 +2985,4 @@ mjd_transitionFD
|
||||
|
||||
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).
|
||||
|
||||
|
||||
@@ -0,0 +1,372 @@
|
||||
..
|
||||
This file contains each section text along with function doc overrides. By default the docs use the function doc
|
||||
pulled from the header files.
|
||||
|
||||
.. _Activation:
|
||||
|
||||
The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
|
||||
|
||||
.. _Virtualfilesystem:
|
||||
|
||||
Virtual file system (VFS) functionality was introduced in MuJoCo 1.50. It enables the user to load all necessary files
|
||||
in memory, including MJB binary model files, XML files (MJCF, URDF and included files), STL meshes, PNGs for textures
|
||||
and height fields, and HF files in our custom height field format. Model and resource files in the VFS can also be
|
||||
constructed programmatically (say using a Python library that writes to memory). Once all desired files are in the VFS,
|
||||
the user can call :ref:`mj_loadModel` or :ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the
|
||||
loaders will first check the VFS for any file they are about to load, and only access the disk if the file is not found
|
||||
in the VFS. The file names stored in the VFS have their name and extension but the path information is stripped; this
|
||||
can be bypassed however by using a custom path symbol in the file names, say "mydir_myfile.xml".
|
||||
|
||||
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
|
||||
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
|
||||
mj_addFileVFS (which allocates memory buffers and loads the file content in memory), then call mj_loadXML or
|
||||
mj_loadModel, and then clear everything with mj_deleteVFS.
|
||||
|
||||
.. _Parseandcompile:
|
||||
|
||||
The key function here is mj_loadXML. It invokes the built-in parser and compiler, and either returns a pointer to a
|
||||
valid mjModel, or NULL - in which case the user should check the error information in the user-provided string. The
|
||||
model and all files referenced in it can be loaded from disk or from a VFS when provided.
|
||||
|
||||
.. _Mainsimulation:
|
||||
|
||||
These are the main entry points to the simulator. Most users will only need to call ``mj_step``, which computes
|
||||
everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
|
||||
(in mjData.ctrl, qfrc_applied and xfrc_applied), or a control callback mjcb_control must be installed which will be
|
||||
called just before the controls and applied forces are needed. Alternatively, one can use ``mj_step1`` and ``mj_step2``
|
||||
which break down the simulation pipeline into computations that are executed before and after the controls are needed;
|
||||
in this way one can set controls that depend on the results from ``mj_step1``. Keep in mind though that the RK4 solver
|
||||
does not work with mj_step1/2.
|
||||
|
||||
mj_forward performs the same computations as ``mj_step`` but without the integration. It is useful after loading or
|
||||
resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
|
||||
sampling or finite-difference approximations.
|
||||
|
||||
mj_inverse runs the inverse dynamics, and writes its output in mjData.qfrc_inverse. Note that mjData.qacc must be set
|
||||
before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration, while
|
||||
mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but numerically
|
||||
this may not always be the case because the forward dynamics rely on a constraint optimization algorithm which is
|
||||
usually terminated early. The difference between the results of forward and inverse dynamics can be computed with the
|
||||
function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general sanity
|
||||
check).
|
||||
|
||||
The skip version of mj_forward and mj_inverse are useful for example when qpos was unchanged but qvel was changed
|
||||
(usually in the context of finite differencing). Then there is no point repeating the computations that only depend on
|
||||
qpos. Calling the dynamics with skipstage = mjSTAGE_POS will achieve these savings.
|
||||
|
||||
.. _Initialization:
|
||||
|
||||
This section contains functions that load/initialize the model or other data structures. Their use is well illustrated
|
||||
in the code samples.
|
||||
|
||||
.. _Printing:
|
||||
|
||||
These functions can be used to print various quantities to the screen for debugging purposes.
|
||||
|
||||
.. _Components:
|
||||
|
||||
These are components of the simulation pipeline, called internally from mj_step, mj_forward and mj_inverse. It is
|
||||
unlikely that the user will need to call them.
|
||||
|
||||
.. _Subcomponents:
|
||||
|
||||
These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
|
||||
that the user will need to call them.
|
||||
|
||||
.. _mj_factorM:
|
||||
|
||||
Compute sparse :math:`L^T D L` factorizaton of inertia matrix.
|
||||
|
||||
.. _mj_solveM:
|
||||
|
||||
Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y`
|
||||
|
||||
.. _mj_solveM2:
|
||||
|
||||
Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
|
||||
|
||||
.. _mj_constraintUpdate:
|
||||
|
||||
Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set \*cost = s(jar)
|
||||
where jar = Jac*qacc-aref.
|
||||
|
||||
.. _Support:
|
||||
|
||||
These are support functions that need access to mjModel and mjData, unlike the utility functions which do not need such
|
||||
access. Support functions are called within the simulator but some of them can also be useful for custom computations,
|
||||
and are documented in more detail below.
|
||||
|
||||
.. _mj_mulJacVec:
|
||||
|
||||
This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
|
||||
sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
|
||||
|
||||
.. _mj_mulJacTVec:
|
||||
|
||||
Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint
|
||||
space.
|
||||
|
||||
.. _mj_jac:
|
||||
|
||||
This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body
|
||||
can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated
|
||||
as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for
|
||||
either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the
|
||||
gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability
|
||||
to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it!
|
||||
|
||||
.. _mj_jacBody:
|
||||
|
||||
This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
|
||||
site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
|
||||
|
||||
.. _mj_mulM:
|
||||
|
||||
This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
|
||||
that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
|
||||
mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
|
||||
sparsity.
|
||||
|
||||
.. _mj_applyFT:
|
||||
|
||||
This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
|
||||
mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
|
||||
we want to add the result to a different vector.
|
||||
|
||||
.. _mj_differentiatePos:
|
||||
|
||||
This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the
|
||||
properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit
|
||||
sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions
|
||||
in the right way, the result is a 3D vector and not a 4D vector. This the output qvel has dimensionality nv while the
|
||||
inputs have dimensionality nq.
|
||||
|
||||
.. _mj_integratePos:
|
||||
|
||||
This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the
|
||||
format of qpos.
|
||||
|
||||
.. _Raycollisions:
|
||||
|
||||
Ray collision functionality was added in MuJoCo 1.50. This is a new collision detection module that uses analytical
|
||||
formulas to intersect a ray (p + x*v, x>=0) with a geom, where p is the origin of the ray and v is the vector specifying
|
||||
the direction. All functions in this family return the distance to the nearest geom surface, or -1 if there is no
|
||||
intersection. Note that if p is inside a geom, the ray will intersect the surface from the inside which still counts as
|
||||
an intersection.
|
||||
|
||||
All ray collision functions rely on quantities computed by :ref:`mj_kinematics` (see :ref:`mjData`), so must be called
|
||||
after :ref:`mj_kinematics`, or functions that call it (e.g. :ref:`mj_fwdPosition`).
|
||||
|
||||
.. _mj_ray:
|
||||
|
||||
Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return geomid and distance (x) to
|
||||
nearest surface, or -1 if no intersection.
|
||||
|
||||
geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip
|
||||
group exclusion.
|
||||
If flg_static is 0, static geoms will be excluded.
|
||||
bodyexclude=-1 can be used to indicate that all bodies are included.
|
||||
|
||||
.. _Interaction:
|
||||
|
||||
These function implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
|
||||
illustrated in :ref:`simulate.cc <saSimulate>`.
|
||||
|
||||
.. _mjv_select:
|
||||
|
||||
This function is used for mouse selection. Previously selection was done via OpenGL, but as of MuJoCo 1.50 it relies on
|
||||
ray intersections which are much more efficient. aspectratio is the viewport width/height. relx and rely are the
|
||||
relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function returns the id of
|
||||
the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is not a model geom).
|
||||
The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate.cc <saSimulate>` for an illustration.
|
||||
|
||||
.. _Visualization-api:
|
||||
|
||||
The functions in this section implement abstract visualization. The results are used by the OpenGL rendered, and can
|
||||
also be used by users wishing to implement their own rendered, or hook up MuJoCo to advanced rendering tools such as
|
||||
Unity or Unreal Engine. See :ref:`simulate.cc <saSimulate>` for illustration of how to use these functions.
|
||||
|
||||
.. _OpenGLrendering:
|
||||
|
||||
These functions expose the OpenGL renderer. See :ref:`simulate.cc <saSimulate>` for an illustration
|
||||
of how to use these functions.
|
||||
|
||||
.. _UIframework:
|
||||
|
||||
.. _Errorandmemory:
|
||||
|
||||
.. _Standardmath:
|
||||
|
||||
The "functions" in this section are preprocessor macros replaced with the corresponding C standard library math
|
||||
functions. When MuJoCo is compiled with single precision (which is not currently available to the public, but we
|
||||
sometimes use it internally) these macros are replaced with the corresponding single-precision functions (not shown
|
||||
here). So one can think of them as having inputs and outputs of type mjtNum, where mjtNum is defined as double or float
|
||||
depending on how MuJoCo is compiled. We will not document these functions here; see the C standard library
|
||||
specification.
|
||||
|
||||
mju_sqrt
|
||||
~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_sqrt sqrt
|
||||
|
||||
mju_exp
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_exp exp
|
||||
|
||||
mju_sin
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_sin sin
|
||||
|
||||
mju_cos
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_cos cos
|
||||
|
||||
mju_tan
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_tan tan
|
||||
|
||||
mju_asin
|
||||
~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_asin asin
|
||||
|
||||
mju_acos
|
||||
~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_acos acos
|
||||
|
||||
mju_atan2
|
||||
~~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_atan2 atan2
|
||||
|
||||
mju_tanh
|
||||
~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_tanh tanh
|
||||
|
||||
mju_pow
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_pow pow
|
||||
|
||||
mju_abs
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_abs fabs
|
||||
|
||||
mju_log
|
||||
~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_log log
|
||||
|
||||
mju_log10
|
||||
~~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_log10 log10
|
||||
|
||||
mju_floor
|
||||
~~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_floor floor
|
||||
|
||||
mju_ceil
|
||||
~~~~~~~~
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
#define mju_ceil ceil
|
||||
|
||||
.. _Vectormath:
|
||||
|
||||
.. _Quaternions:
|
||||
|
||||
.. _Poses:
|
||||
|
||||
.. _Decompositions:
|
||||
|
||||
.. _mju_boxQP:
|
||||
|
||||
Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed.
|
||||
|
||||
inputs:
|
||||
``n`` - problem dimension
|
||||
|
||||
``H`` - SPD matrix ``n*n``
|
||||
|
||||
``g`` - bias vector ``n``
|
||||
|
||||
``lower`` - lower bounds ``n``
|
||||
|
||||
``upper`` - upper bounds ``n``
|
||||
|
||||
``res`` - solution warmstart ``n``
|
||||
|
||||
return value:
|
||||
``nfree <= n`` - rank of unconstrained subspace, -1 if failure
|
||||
|
||||
outputs (required):
|
||||
``res`` - solution ``n``
|
||||
|
||||
``R`` - subspace Cholesky factor ``nfree*nfree``, allocated: ``n*(n+7)``
|
||||
|
||||
outputs (optional):
|
||||
``index`` - set of free dimensions ``nfree``, allocated: ``n``
|
||||
|
||||
notes:
|
||||
The initial value of ``res`` is used to warmstart the solver.
|
||||
``R`` must have allocatd size ``n*(n+7)``, but only ``nfree*nfree`` values are used in output.
|
||||
``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used in output.
|
||||
The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
|
||||
Only the lower triangles of H and R and are read from and written to, respectively.
|
||||
|
||||
.. _mju_boxQPmalloc:
|
||||
|
||||
Allocate heap memory for box-constrained Quadratic Program.
|
||||
As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional.
|
||||
Free all pointers with ``mju_free()``.
|
||||
|
||||
.. _mju_symmetrize:
|
||||
|
||||
Symmetrize square matrix :math:`R = \frac{1}{2}(M + M^T)`.
|
||||
|
||||
.. _Miscellaneous:
|
||||
|
||||
.. _Derivatives-api:
|
||||
|
||||
.. _mjd_transitionFD:
|
||||
|
||||
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).
|
||||
Reference in New Issue
Block a user