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

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PiperOrigin-RevId: 464075727
Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
This commit is contained in:
Yuval Tassa
2022-07-29 07:43:52 -07:00
committed by Copybara-Service
parent cd489fc72d
commit fcf4131771
7 changed files with 211 additions and 4 deletions
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src/engine/engine_support.h
+3
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@@ -43,6 +43,9 @@ MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d,
mjtNum* jacp, mjtNum* jacr, int body);
// compute subtree center-of-mass Jacobian
MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
// compute geom Jacobian
MJAPI void mj_jacGeom(const mjModel* m, const mjData* d,
mjtNum* jacp, mjtNum* jacr, int geom);