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Add control plugin API.

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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
This commit is contained in:
Saran Tunyasuvunakool
2022-12-06 08:23:07 -08:00
committed by Copybara-Service
parent 60fbb77b2a
commit e4f1d584ad
14 changed files with 70 additions and 41 deletions
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src/engine/engine_sensor.c
+3 -3
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@@ -357,7 +357,7 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) &&
if ((plugin->capabilities & mjPLUGIN_SENSOR) &&
(plugin->needstage==mjSTAGE_POS || plugin->needstage==mjSTAGE_NONE)) {
if (!plugin->compute) {
mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
@@ -538,7 +538,7 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_VEL) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
}
@@ -747,7 +747,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
if (!plugin) {
mju_error_i("invalid plugin slot: %d", slot);
}
if ((plugin->type & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if ((plugin->capabilities & mjPLUGIN_SENSOR) && plugin->needstage==mjSTAGE_ACC) {
if (!plugin->compute) {
mju_error_i("`compute` is null for plugin at slot %d", slot);
}