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Remove hard-coded nPOS and nVEL from mjCModel.

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PiperOrigin-RevId: 661370196
Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52
This commit is contained in:
Alessio Quaglino
2024-08-09 12:52:48 -07:00
committed by Copybara-Service
parent da15aa6a0e
commit ec43ec7c30
3 changed files with 44 additions and 40 deletions
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src/user/user_objects.h
+5
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@@ -424,6 +424,11 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
bool is_limited() const;
bool is_actfrclimited() const;
static int nq(mjtJoint joint_type);
static int nv(mjtJoint joint_type);
int nq() const { return nq(spec.type); }
int nv() const { return nv(spec.type); }
private:
int Compile(void); // compiler; return dofnum
void PointToLocal(void);