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
90 lines
3.0 KiB
C
90 lines
3.0 KiB
C
// Copyright 2021 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_FORWARD_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_FORWARD_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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// check positions, velocities, accelerations; reset if bad
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MJAPI void mj_checkPos(const mjModel* m, mjData* d);
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MJAPI void mj_checkVel(const mjModel* m, mjData* d);
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MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
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//-------------------------------- top-level API ---------------------------------------------------
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// advance simulation: use control callback, no external force, RK4 available
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MJAPI void mj_step(const mjModel* m, mjData* d);
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// advance simulation in two steps: before external force/control is set by user
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MJAPI void mj_step1(const mjModel* m, mjData* d);
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// advance simulation in two steps: after external force/control is set by user
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MJAPI void mj_step2(const mjModel* m, mjData* d);
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// forward dynamics
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MJAPI void mj_forward(const mjModel* m, mjData* d);
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// forward dynamics with skip; skipstage is mjtStage
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MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
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//-------------------------------- integrators -----------------------------------------------------
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// Runge Kutta explicit order-N integrator
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MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
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// Euler integrator, semi-implicit in velocity
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MJAPI void mj_Euler(const mjModel* m, mjData* d);
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// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
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MJAPI void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor);
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// fully implicit in velocity
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MJAPI void mj_implicit(const mjModel *m, mjData *d);
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// fully implicit in velocity, possibly skipping factorization
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MJAPI void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor);
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//-------------------------------- solver components -----------------------------------------------
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// computations that depend only on qpos
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MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
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// computations that depend only on qpos and qvel
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MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
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// compute actuator force
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MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
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// add up all non-constraint forces, compute qacc_unc
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MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
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// forward constraint
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MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
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