Copybara-Service
6b7d714291
PiperOrigin-RevId: 612835207 Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
232 lines
9.3 KiB
C
232 lines
9.3 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_SUPPORT_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
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#include <stdint.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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#include <mujoco/mjtnum.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// strings
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MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
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MJAPI extern const char* mjENABLESTRING[mjNENABLE];
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MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
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//-------------------------- get/set state ---------------------------------------------------------
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// return size of state specification
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MJAPI int mj_stateSize(const mjModel* m, unsigned int spec);
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// get state
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MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec);
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// set state
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MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec);
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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);
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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);
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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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// 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 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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//-------------------------- name functions --------------------------------------------------------
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// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
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uint64_t mj_hashdjb2(const char* s, uint64_t n);
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// get id of object with the specified mjtObj type and name, returns -1 if id not found
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MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
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// get name of object with the specified mjtObj type and id, returns NULL if name not found
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MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
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//-------------------------- inertia functions -----------------------------------------------------
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// convert sparse inertia matrix M into full matrix
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MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
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// multiply vector by inertia matrix
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MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// multiply vector by inertia matrix for one dof island
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MJAPI void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
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int island, int flg_vecunc);
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// multiply vector by (inertia matrix)^(1/2)
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MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// add inertia matrix to destination matrix
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// destination can be sparse uncompressed, or dense when all int* are NULL
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MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
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int* rownnz, int* rowadr, int* colind);
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// make inertia matrix M
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MJAPI void mj_makeMSparse(const mjModel* m, mjData* d, mjtNum* M,
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int* M_rownnz, int* M_rowadr, int* M_colind);
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// add inertia matrix to sparse destination matrix
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MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
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int* rownnz, int* rowadr, int* colind, mjtNum* M,
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int* M_rownnz, int* M_rowadr, int* M_colind);
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// add inertia matrix to dense destination matrix
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MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
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//-------------------------- sparse system matrix conversion ---------------------------------------
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// dst[D] = src[M], handle different sparsity representations
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MJAPI void mj_copyM2DSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
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// dst[M] = src[D lower], handle different sparsity representations
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MJAPI void mj_copyD2MSparse(const mjModel* m, mjData* d, mjtNum* dst, const mjtNum* src);
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//-------------------------- perturbations ---------------------------------------------------------
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// apply Cartesian force and torque
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MJAPI void mj_applyFT(const mjModel* m, mjData* d,
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const mjtNum force[3], const mjtNum torque[3],
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const mjtNum point[3], int body, mjtNum* qfrc_target);
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// accumulate xfrc_applied in qfrc
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void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
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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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//-------------------------- 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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// compute velocity by finite-differencing two positions
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MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
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const mjtNum* qpos1, const mjtNum* qpos2);
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// integrate position with given velocity
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MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
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// normalize all quaternions in qpos-type vector
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MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
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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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// return 1 if actuator i is disabled, 0 otherwise
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MJAPI int mj_actuatorDisabled(const mjModel* m, int i);
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// sum all body masses
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MJAPI mjtNum mj_getTotalmass(const mjModel* m);
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// scale body masses and inertias to achieve specified total mass
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MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
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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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// version number
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MJAPI int mj_version(void);
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// current version of MuJoCo as a null-terminated string
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MJAPI const char* mj_versionString(void);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
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