Yuval Tassa
eb65273fa1
PiperOrigin-RevId: 470947389 Change-Id: I39b9495e3e6d6cf8994e603d6eb69e3e5322e734
173 lines
7.0 KiB
C
173 lines
7.0 KiB
C
// Copyright 2021 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
|
|
#define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
|
|
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjexport.h>
|
|
#include <mujoco/mjmodel.h>
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
// strings
|
|
MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
|
|
MJAPI extern const char* mjENABLESTRING[mjNENABLE];
|
|
MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
|
|
|
|
|
|
//-------------------------- Jacobians -------------------------------------------------------------
|
|
|
|
// compute 3/6-by-nv Jacobian of global point attached to given body
|
|
MJAPI void mj_jac(const mjModel* m, const mjData* d,
|
|
mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
|
|
|
|
// compute body frame Jacobian
|
|
MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
|
|
mjtNum* jacp, mjtNum* jacr, int body);
|
|
|
|
// compute body center-of-mass Jacobian
|
|
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);
|
|
|
|
// compute site Jacobian
|
|
MJAPI void mj_jacSite(const mjModel* m, const mjData* d,
|
|
mjtNum* jacp, mjtNum* jacr, int site);
|
|
|
|
// compute translation Jacobian of point, and rotation Jacobian of axis
|
|
MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
|
|
mjtNum* jacPoint, mjtNum* jacAxis,
|
|
const mjtNum point[3], const mjtNum axis[3], int body);
|
|
|
|
// compute 3/6-by-nv sparse Jacobian of global point attached to given body
|
|
void mj_jacSparse(const mjModel* m, const mjData* d,
|
|
mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
|
|
int NV, int* chain);
|
|
|
|
// sparse Jacobian difference for simple body contacts
|
|
void mj_jacSparseSimple(const mjModel* m, const mjData* d,
|
|
mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
|
|
int body, int flg_second, int NV, int start);
|
|
|
|
// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
|
|
MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
|
|
int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
|
|
mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
|
|
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr);
|
|
|
|
|
|
//-------------------------- name functions --------------------------------------------------------
|
|
|
|
// get id of object with specified name; -1: not found; type is mjtObj
|
|
MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
|
|
|
|
// get name of object with specified id; 0: invalid type or id; type is mjtObj
|
|
MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
|
|
|
|
|
|
//-------------------------- inertia functions -----------------------------------------------------
|
|
|
|
// convert sparse inertia matrix M into full matrix
|
|
MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
|
|
|
|
// multiply vector by inertia matrix
|
|
MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
|
|
|
|
// multiply vector by (inertia matrix)^(1/2)
|
|
MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
|
|
|
|
// add inertia matrix to destination matrix
|
|
// destination can be sparse uncompressed, or dense when all int* are NULL
|
|
MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
|
|
int* rownnz, int* rowadr, int* colind);
|
|
|
|
// construct sparse matrix representations matching qM
|
|
MJAPI void mj_makeMSparse(const mjModel* m, mjData* d, int *rownnz, int *rowadr, int *colind);
|
|
|
|
// set dst = qM, handle different sparsity representations
|
|
MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst,
|
|
const int *rownnz, const int *rowadr, const int *colind);
|
|
|
|
|
|
//-------------------------- perturbations ---------------------------------------------------------
|
|
|
|
// apply cartesian force and torque
|
|
MJAPI void mj_applyFT(const mjModel* m, mjData* d,
|
|
const mjtNum force[3], const mjtNum torque[3],
|
|
const mjtNum point[3], int body, mjtNum* qfrc_target);
|
|
|
|
// accumulate xfrc_applied in qfrc
|
|
void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
|
|
|
|
|
|
//-------------------------- coordinate transformation ---------------------------------------------
|
|
|
|
// compute object 6D velocity in object-centered frame, world/local orientation
|
|
MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
|
|
int objtype, int objid, mjtNum res[6], int flg_local);
|
|
|
|
// compute object 6D acceleration in object-centered frame, world/local orientation
|
|
MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
|
|
int objtype, int objid, mjtNum res[6], int flg_local);
|
|
|
|
|
|
//-------------------------- miscellaneous ---------------------------------------------------------
|
|
|
|
// extract 6D force:torque for one contact, in contact frame
|
|
MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
|
|
|
|
// compute velocity by finite-differencing two positions
|
|
MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
|
|
const mjtNum* qpos1, const mjtNum* qpos2);
|
|
|
|
// integrate position with given velocity
|
|
MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
|
|
|
|
// normalize all quaterions in qpos-type vector
|
|
MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
|
|
|
|
// map from body local to global Cartesian coordinates
|
|
MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
|
|
const mjtNum pos[3], const mjtNum quat[4],
|
|
int body, mjtByte sameframe);
|
|
|
|
// sum all body masses
|
|
MJAPI mjtNum mj_getTotalmass(const mjModel* m);
|
|
|
|
// scale body masses and inertias to achieve specified total mass
|
|
MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
|
|
|
|
// high-level warning function: count warnings in mjData, print only the first time
|
|
MJAPI void mj_warning(mjData* d, int warning, int info);
|
|
|
|
// version number
|
|
MJAPI int mj_version(void);
|
|
|
|
// current version of MuJoCo as a null-terminated string
|
|
MJAPI const char* mj_versionString();
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
|