Add mj_jacSubtreeCom for computing subtree center-of-mass Jacobians.

PiperOrigin-RevId: 464075727 Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
2022-07-29 07:43:52 -07:00
parent cd489fc72d
commit fcf4131771
7 changed files with 211 additions and 4 deletions
@@ -4358,6 +4358,17 @@ mj_jacBodyCom

 Compute body center-of-mass end-effector Jacobian.

+.. _mj_jacSubtreeCom:
+
+mj_jacSubtreeCom
+~~~~~~~~~~~~~~~~
+
+.. code-block:: C
+
+   void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
+
+Compute subtree center-of-mass end-effector Jacobian. ``jacp`` is 3 x nv.
+
 .. _mj_jacGeom:

 mj_jacGeom
@@ -2,8 +2,10 @@
 Changelog
 =========

-.. Upcoming version (not yet released)
-.. -----------------------------------
+Upcoming version (not yet released)
+-----------------------------------
+
+- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree. 

 Version 2.2.1 (July 18, 2022)
 -----------------------------