Yuval Tassa
9a97674e1e
PiperOrigin-RevId: 517165392 Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
44 lines
1.6 KiB
C
44 lines
1.6 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_FD_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_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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// 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 forward finite difference approximation of (d qfrc_passive / d qvel) to qDeriv
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MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);
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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 transition matrices (control theory notation)
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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, mjtNum* C, mjtNum* 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_DERIVATIVE_FD_H_
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