From e142bca7f251514977050994783333a0f26f5d11 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 4 Mar 2024 22:59:29 -0800 Subject: [PATCH] Remove special handling of `mjModel` and `mjData` strings in autogenerated functions.rst PiperOrigin-RevId: 612714709 Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34 --- doc/APIreference/functions.rst | 40 +++++++++++++++++----------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst index 097e675e..ce295ecc 100644 --- a/doc/APIreference/functions.rst +++ b/doc/APIreference/functions.rst @@ -224,7 +224,7 @@ mj_mulJacVec .. mujoco-include:: mj_mulJacVec -This function multiplies the constraint Jacobian :ref:`mjData`.efc_J by a vector. Note that the Jacobian can be either dense or +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: @@ -341,7 +341,7 @@ mj_mulM .. mujoco-include:: mj_mulM -This function multiplies the joint-space inertia matrix stored in :ref:`mjData`.qM by a vector. qM has a custom sparse format +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. @@ -373,7 +373,7 @@ mj_applyFT .. mujoco-include:: 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 -:ref:`mjData`.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes +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_objectVelocity: @@ -394,7 +394,7 @@ mj_objectAcceleration Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate -:ref:`mjData`.cacc -- the total body acceleration, including contributions from the constraint solver. +mjData.cacc -- the total body acceleration, including contributions from the constraint solver. .. _mj_contactForce: @@ -1022,7 +1022,7 @@ mj_printFormattedModel .. mujoco-include:: mj_printFormattedModel -Print :ref:`mjModel` to text file, specifying format. +Print mjModel to text file, specifying format. float_format must be a valid printf-style format string for a single float value. .. _mj_printModel: @@ -1041,7 +1041,7 @@ mj_printFormattedData .. mujoco-include:: mj_printFormattedData -Print :ref:`mjData` to text file, specifying format. +Print mjData to text file, specifying format. float_format must be a valid printf-style format string for a single float value .. _mj_printData: @@ -1205,7 +1205,7 @@ mj_copyModel .. mujoco-include:: mj_copyModel -Copy :ref:`mjModel`, allocate new if dest is NULL. +Copy mjModel, allocate new if dest is NULL. .. _mj_saveModel: @@ -1251,7 +1251,7 @@ mj_makeData .. mujoco-include:: mj_makeData -Allocate :ref:`mjData` corresponding to given model. +Allocate mjData corresponding to given model. If the model buffer is unallocated the initial configuration will not be set. .. _mj_copyData: @@ -1261,7 +1261,7 @@ mj_copyData .. mujoco-include:: mj_copyData -Copy :ref:`mjData`. +Copy mjData. m is only required to contain the size fields from MJMODEL_INTS. .. _mj_resetData: @@ -1298,7 +1298,7 @@ mj_markStack .. mujoco-include:: mj_markStack -Mark a new frame on the :ref:`mjData` stack. +Mark a new frame on the mjData stack. .. _mj_freeStack: @@ -1307,7 +1307,7 @@ mj_freeStack .. mujoco-include:: mj_freeStack -Free the current :ref:`mjData` stack frame. All pointers returned by mj_stackAlloc since the last call +Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call to mj_markStack must no longer be used afterwards. .. _mj_stackAllocByte: @@ -1317,7 +1317,7 @@ mj_stackAllocByte .. mujoco-include:: mj_stackAllocByte -Allocate a number of bytes on :ref:`mjData` stack at a specific alignment. +Allocate a number of bytes on mjData stack at a specific alignment. Call mju_error on stack overflow. .. _mj_stackAllocNum: @@ -1327,7 +1327,7 @@ mj_stackAllocNum .. mujoco-include:: mj_stackAllocNum -Allocate array of mjtNums on :ref:`mjData` stack. Call mju_error on stack overflow. +Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow. .. _mj_stackAllocInt: @@ -1336,7 +1336,7 @@ mj_stackAllocInt .. mujoco-include:: mj_stackAllocInt -Allocate array of ints on :ref:`mjData` stack. Call mju_error on stack overflow. +Allocate array of ints on mjData stack. Call mju_error on stack overflow. .. _mj_deleteData: @@ -1345,7 +1345,7 @@ mj_deleteData .. mujoco-include:: mj_deleteData -Free memory allocation in :ref:`mjData`. +Free memory allocation in mjData. .. _mj_resetCallbacks: @@ -1363,7 +1363,7 @@ mj_setConst .. mujoco-include:: mj_setConst -Set constant fields of :ref:`mjModel`, corresponding to qpos0 configuration. +Set constant fields of mjModel, corresponding to qpos0 configuration. .. _mj_setLengthRange: @@ -2167,7 +2167,7 @@ mj_warning .. mujoco-include:: mj_warning -High-level warning function: count warnings in :ref:`mjData`, print only the first. +High-level warning function: count warnings in mjData, print only the first. .. _mju_writeLog: @@ -3314,7 +3314,7 @@ mjd_transitionFD Finite-differenced discrete-time transition matrices. Letting :math:`x, u` denote the current :ref:`state` and :ref:`control` -vector in an :ref:`mjData` instance, and letting :math:`y, s` denote the next state and sensor +vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`. :ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing. These matrices and their dimensions are: @@ -3345,7 +3345,7 @@ mjd_inverseFD Finite differenced continuous-time inverse-dynamics Jacobians. -Letting :math:`x, a` denote the current :ref:`state` and acceleration vectors in an :ref:`mjData` instance, and +Letting :math:`x, a` denote the current :ref:`state` and acceleration vectors in an mjData instance, and letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function :ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians using finite-differencing. These matrices and their dimensions are: @@ -3532,7 +3532,7 @@ mju_bindThreadPool .. mujoco-include:: mju_bindThreadPool -Adds a thread pool to :ref:`mjData` and configures it for multi-threaded use. +Adds a thread pool to mjData and configures it for multi-threaded use. .. _mju_threadPoolEnqueue: