Yuval Tassa
510d75f4cf
PiperOrigin-RevId: 886899849 Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
147 lines
6.0 KiB
C
147 lines
6.0 KiB
C
// Copyright 2025 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_CORE_UTIL_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_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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//-------------------------- model properties ------------------------------------------------------
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// determine type of friction cone
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MJAPI int mj_isPyramidal(const mjModel* m);
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// determine type of constraint Jacobian
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MJAPI int mj_isSparse(const mjModel* m);
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//-------------------------- sparse chains ---------------------------------------------------------
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// merge dof chains for two bodies
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int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2, int flg_skipcommon);
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// merge dof chains for two simple bodies
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int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
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// get body chain
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int mj_bodyChain(const mjModel* m, int body, int* chain);
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//-------------------------- Jacobians -------------------------------------------------------------
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// compute 3/6-by-nv Jacobian of global point attached to given body
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MJAPI void mj_jac(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute body frame Jacobian
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MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute body center-of-mass Jacobian
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MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute subtree center-of-mass Jacobian
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MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
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// compute geom Jacobian
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MJAPI void mj_jacGeom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int geom);
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// compute site Jacobian
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MJAPI void mj_jacSite(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int site);
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// compute translation Jacobian of point, and rotation Jacobian of axis
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MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
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mjtNum* jacPoint, mjtNum* jacAxis,
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const mjtNum point[3], const mjtNum axis[3], int body);
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// compute 3/6-by-nv sparse Jacobian of global point attached to given body
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void mj_jacSparse(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
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int NV, const int* chain, int flg_skipcommon);
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// sparse Jacobian difference for simple body contacts
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void mj_jacSparseSimple(const mjModel* m, const mjData* d,
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mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
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int body, int flg_second, int NV, int start);
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// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
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MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
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int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
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mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
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mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr,
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int issparse, int flg_skipcommon);
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// dense or sparse weighted sum of multiple body Jacobians at same point
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int mj_jacSum(const mjModel* m, mjData* d, int* chain,
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int n, const int* body, const mjtNum* weight,
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const mjtNum point[3], mjtNum* jac, int flg_rot);
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// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
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MJAPI void mj_jacDot(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute subtree angular momentum matrix
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MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
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//-------------------------- coordinate transformation ---------------------------------------------
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// compute object 6D velocity in object-centered frame, world/local orientation
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MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// compute object 6D acceleration in object-centered frame, world/local orientation
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MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// map from body local to global Cartesian coordinates
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MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
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const mjtNum pos[3], const mjtNum quat[4],
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int body, mjtByte sameframe);
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//-------------------------- miscellaneous ---------------------------------------------------------
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// extract 6D force:torque for one contact, in contact frame
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MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
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// count the number of length limit violations for tendon i (0, 1 or 2)
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int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
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// return actuator damping contribution to joint or tendon
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MJAPI mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]);
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// return actuator armature contribution to joint or tendon
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MJAPI mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id);
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// high-level warning function: count warnings in mjData, print only the first time
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MJAPI void mj_warning(mjData* d, int warning, int info);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
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