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Add test for rotational Jacobian formula used in weld constraints

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PiperOrigin-RevId: 470947389
Change-Id: I39b9495e3e6d6cf8994e603d6eb69e3e5322e734
This commit is contained in:
Yuval Tassa
2022-08-30 03:42:20 -07:00
committed by Copybara-Service
parent 6b6fff69ba
commit eb65273fa1
3 changed files with 169 additions and 4 deletions
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src/engine/engine_support.h
+4 -4
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@@ -70,10 +70,10 @@ void mj_jacSparseSimple(const mjModel* m, const mjData* d,
int body, int flg_second, int NV, int start);
// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr);
MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr);
//-------------------------- name functions --------------------------------------------------------