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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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introspect/functions.py
+59 -1
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@@ -5284,6 +5284,28 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Set res = 0.',
)),
('mju_fill',
FunctionDecl(
name='mju_fill',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='val',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = val.',
)),
('mju_copy',
FunctionDecl(
name='mju_copy',
@@ -5698,7 +5720,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=ValueType(name='int'),
),
),
doc="Multiply square matrix with vectors on both sides: returns vec1'*mat*vec2.", # pylint: disable=line-too-long
doc="Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.", # pylint: disable=line-too-long
)),
('mju_transpose',
FunctionDecl(
@@ -5728,6 +5750,42 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc="Transpose matrix: res = mat'.",
)),
('mju_symmetrize',
FunctionDecl(
name='mju_symmetrize',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Symmetrize square matrix M = (M + M')/2.",
)),
('mju_eye',
FunctionDecl(
name='mju_eye',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set mat to the identity matrix.',
)),
('mju_mulMatMat',
FunctionDecl(
name='mju_mulMatMat',