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Add sensor matrices to mjd_transitionFD.

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- Also add missing `mj_jacSubtreeCom` to Python bindings.

PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
This commit is contained in:
Yuval Tassa
2022-09-01 13:00:02 -07:00
committed by Copybara-Service
parent 46da1285af
commit e3a82247c2
7 changed files with 157 additions and 31 deletions
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include/mujoco/mujoco.h
+8 -3
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@@ -1091,12 +1091,17 @@ MJAPI mjtNum mju_sigmoid(mjtNum x);
//---------------------- Derivatives ---------------------------------------------------------------
// Finite differenced state-transition and control-transition matrices dx(t+h) = A*dx(t) + B*du(t).
// Finite differenced transition matrices (control theory notation)
// d(x_next) = A*dx + B*du
// d(sensor) = C*dx + D*du
// required output matrix dimensions:
// A: (2*nv+na x 2*nv+na)
// B: (2*nv+na x nu)
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
mjtNum* A, mjtNum* B);
// D: (nsensordata x 2*nv+na)
// C: (nsensordata x nu)
void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
#if defined(__cplusplus)