chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

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

Browse Source 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
This commit is contained in:
Yuval Tassa
2023-06-12 08:55:58 -07:00
committed by Copybara-Service
parent 84c33e53df
commit f67e359532
16 changed files with 520 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.h
+12
View File
@@ -29,6 +29,18 @@ MJAPI extern const char* mjENABLESTRING[mjNENABLE];
MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
//-------------------------- get/set state ---------------------------------------------------------
// return size of state specification
MJAPI int mj_stateSize(const mjModel* m, unsigned int spec);
// get state
MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec);
// set state
MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec);
//-------------------------- Jacobians -------------------------------------------------------------
// compute 3/6-by-nv Jacobian of global point attached to given body