Alessio Quaglino
5a70ad08ab
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
94 lines
3.4 KiB
C
94 lines
3.4 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_CORE_SMOOTH_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_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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//-------------------------- position --------------------------------------------------------------
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// forward kinematics
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MJAPI void mj_kinematics(const mjModel* m, mjData* d);
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// map inertias and motion dofs to global frame centered at CoM
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MJAPI void mj_comPos(const mjModel* m, mjData* d);
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// compute camera and light positions and orientations
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MJAPI void mj_camlight(const mjModel* m, mjData* d);
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// compute flex-related quantities
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MJAPI void mj_flex(const mjModel* m, mjData* d);
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// compute tendon lengths, velocities and moment arms
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MJAPI void mj_tendon(const mjModel* m, mjData* d);
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// compute actuator transmission lengths and moments
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MJAPI void mj_transmission(const mjModel* m, mjData* d);
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//-------------------------- inertia ---------------------------------------------------------------
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// composite rigid body inertia algorithm
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MJAPI void mj_crb(const mjModel* m, mjData* d);
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// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd
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MJAPI void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD, mjtNum* qLDiagInv,
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mjtNum* qLDiagSqrtInv);
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// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
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MJAPI void mj_factorM(const mjModel* m, mjData* d);
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// sparse backsubstitution: x = inv(L'*D*L)*y
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MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, int n,
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const mjtNum* qLD, const mjtNum* qLDiagInv);
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// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
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MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
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// sparse backsubstitution for one island: x = inv(L'*D*L)*x, use factorization in d
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MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
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// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
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MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
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//-------------------------- velocity --------------------------------------------------------------
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// compute cvel, cdof_dot
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MJAPI void mj_comVel(const mjModel* m, mjData* d);
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// subtree linear velocity and angular momentum
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MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
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//-------------------------- RNE -------------------------------------------------------------------
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// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
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MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
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// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
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MJAPI void mj_rnePostConstraint(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_CORE_SMOOTH_H_
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