Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.

PiperOrigin-RevId: 539667943 Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:55:58 -07:00
parent 84c33e53df
commit f67e359532
16 changed files with 520 additions and 41 deletions
@@ -151,6 +151,36 @@ These are support functions that need access to :ref:`mjModel` and :ref:`mjData`
 not need such access. Support functions are called within the simulator but some of them can also be useful for custom
 computations, and are documented in more detail below.

+.. _mj_stateSize:
+
+mj_stateSize
+~~~~~~~~~~~~
+
+.. mujoco-include:: mj_stateSize
+
+Returns the number of :ref:`mjtNum` |-| s required for a given state specification. The bits of the integer ``spec``
+correspond to element fields of :ref:`mjtState`.
+
+.. _mj_getState:
+
+mj_getState
+~~~~~~~~~~~
+
+.. mujoco-include:: mj_getState
+
+Copy concatenated state components specified by ``spec`` from ``d`` into ``state``. The bits of the integer
+``spec`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``spec`` is invalid.
+
+.. _mj_setState:
+
+mj_setState
+~~~~~~~~~~~
+
+.. mujoco-include:: mj_setState
+
+Copy concatenated state components specified by ``spec`` from  ``state`` into ``d``. The bits of the integer
+``spec`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``spec`` is invalid.
+
 .. _mj_addContact:

 mj_addContact