Alessio Quaglino
9833f912c1
PiperOrigin-RevId: 485642970 Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
53 lines
1.7 KiB
C++
53 lines
1.7 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_PLUGIN_ELASTICITY_CABLE_H_
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#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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namespace mujoco::plugin::elasticity {
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class Cable {
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public:
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// Creates a new Cable instance (allocated with `new`) or
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// returns null on failure.
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static std::optional<Cable> Create(const mjModel* m, mjData* d,
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int instance);
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Cable(Cable&&) = default;
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~Cable() = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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int i0; // index of first body
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int n; // number of bodies in the cable
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std::vector<int> prev; // indices of previous bodies (n x 1)
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std::vector<int> next; // indices of next bodies (n x 1)
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std::vector<mjtNum> stiffness; // stiffness parameters (n x 4)
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std::vector<mjtNum> omega0; // reference curvature (n x 3)
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private:
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Cable(const mjModel* m, mjData* d, int instance);
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};
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
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