 Yuval Tassa
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42a16f65c2
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Fix typo in mjd_inverseFD documentation.
PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
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2023-05-03 01:30:44 -07:00 |
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Yuval Tassa
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c50177d301
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Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
Fixes #703.
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
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2023-04-28 09:04:41 -07:00 |
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Yuval Tassa
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e3cdc410d6
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Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
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2023-04-26 07:18:52 -07:00 |
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Kyle Bayes
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8696247f9d
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Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
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2023-03-18 13:04:14 -07:00 |
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Yuval Tassa
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9a97674e1e
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Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c)
PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
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2023-03-16 10:45:15 -07:00 |
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