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Add mju_fill, mju_symmetrize and mju_eye utility functions.

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PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
This commit is contained in:
Yuval Tassa
2022-10-27 05:27:46 -07:00
committed by Copybara-Service
parent 507b573763
commit f905c7fb7f
8 changed files with 202 additions and 6 deletions
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include/mujoco/mujoco.h
+10 -1
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@@ -871,6 +871,9 @@ MJAPI mjtNum mju_normalize4(mjtNum res[4]);
// Set res = 0.
MJAPI void mju_zero(mjtNum* res, int n);
// Set res = val.
MJAPI void mju_fill(mjtNum* res, int n, mjtNum val);
// Set res = vec.
MJAPI void mju_copy(mjtNum* res, const mjtNum* data, int n);
@@ -916,12 +919,18 @@ MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
// Multiply transposed matrix and vector: res = mat' * vec.
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
// Multiply square matrix with vectors on both sides: returns vec1'*mat*vec2.
// Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
// Transpose matrix: res = mat'.
MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
// Symmetrize square matrix M = (M + M')/2.
MJAPI void mju_symmetrize(mjtNum* mat, int n);
// Set mat to the identity matrix.
MJAPI void mju_eye(mjtNum* mat, int n);
// Multiply matrices: res = mat1 * mat2.
MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
int r1, int c1, int c2);