Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
122 lines
4.6 KiB
C
122 lines
4.6 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 part 1: bodies
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void mj_kinematics1(const mjModel* m, mjData* d);
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// forward kinematics part 2: body inertias, geoms and sites
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void mj_kinematics2(const mjModel* m, mjData* d);
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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 time derivative of dense tendon Jacobian for one tendon
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MJAPI void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot);
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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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// add tendon armature to M
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MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
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// make inertia matrix
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MJAPI void mj_makeM(const mjModel* m, mjData* d);
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// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation)
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MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
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mjtNum* qLD, mjtNum* qLDiagInv);
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// sparse L'*D*L factorizaton of inertia-like matrix (only dofs in index, if given)
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MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
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const int* rownnz, const int* rowadr, const int* colind, const int* index);
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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)*x (legacy implementation)
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MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
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const mjtNum* qLD, const mjtNum* qLDiagInv);
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// in-place sparse backsubstitution (only dofs in index, if given): x = inv(L'*D*L)*x
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// handle n vectors at once
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MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
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const int* rownnz, const int* rowadr, const int* colind, const int* index);
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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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// 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,
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const mjtNum* sqrtInvD, 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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//-------------------------- tendon bias -----------------------------------------------------------
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// add bias force due to tendon armature
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MJAPI void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc);
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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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