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Improve full inertia user API.

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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
This commit is contained in:
Yuval Tassa
2024-04-23 08:39:10 -07:00
committed by Copybara-Service
parent c6ab354bd7
commit f457789de1
6 changed files with 55 additions and 59 deletions
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src/user/user_api.h
+2 -2
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@@ -961,8 +961,8 @@ MJAPI void mjs_setFrame(mjElement* dest, mjsFrame* frame);
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
const mjsOrientation* orientation);
// Compute quat and inertia from fullinertia, return error if any.
MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inertia[3]);
// Compute quat and diag inertia from full inertia matrix, return error if any.
MJAPI const char* mjs_fullInertia(double quat[4], double inertia[3], const double fullinertia[6]);
//---------------------------------- Initialization -----------------------------------------------