Yuval Tassa
228264c92b
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia. - Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`. - Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`. - Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians. - Exploit "Skip" functionality for speed. - Correctly handle quaternion derivatives. - Handle warmstarts and control limits. PiperOrigin-RevId: 456584811 Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
51 lines
1.8 KiB
C
51 lines
1.8 KiB
C
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// analytical derivative of smooth forces w.r.t velocities:
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// d->qDeriv = d (qfrc_actuator + qfrc_passive - qfrc_bias) / d qvel
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MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d);
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// centered finite difference approximation to mjd_smooth_vel
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MJAPI void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps);
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// add (d qfrc_passive / d qvel) to DfDv
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MJAPI void mjd_passive_vel(const mjModel* m, mjData* d, mjtNum* DfDv);
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// add forward finite difference approximation of (d qfrc_passive / d qvel) to DfDv
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MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps, mjtNum* DfDv);
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// advance simulation using control callback, skipstage is mjtStage
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MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
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// finite differenced state-transition and control-transition matrices dy = A*dx + B*du
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MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
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mjtNum* A, mjtNum* B);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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