Tom Erez
02f300c762
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool. PiperOrigin-RevId: 451699887 Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
53 lines
1.7 KiB
C#
53 lines
1.7 KiB
C#
// Copyright 2019 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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using System;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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public class MjBodyQuaternionSensor : MjBaseSensor {
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public MjBody Body;
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[Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
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public bool UseInertialFrame;
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public Quaternion SensorReading { get; private set; }
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protected override XmlElement ToMjcf(XmlDocument doc) {
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if (Body == null) {
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throw new NullReferenceException("Missing a reference to a MjBody.");
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}
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var mjcf = doc.CreateElement("framequat");
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mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
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mjcf.SetAttribute("objname", Body.MujocoName);
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return mjcf;
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}
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protected override void FromMjcf(XmlElement mjcf) {
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UseInertialFrame = mjcf.HasAttribute("body");
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Body = mjcf.GetObjectReferenceAttribute<MjBody>("objname");
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if (Body == null) {
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throw new NullReferenceException("Missing a reference to a MjBody.");
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}
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}
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
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}
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}
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}
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