Yuval Tassa
b9900db00e
PiperOrigin-RevId: 801745499 Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
117 lines
4.1 KiB
C
117 lines
4.1 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 <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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// arrays
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MJAPI extern const int mjCONDATA_SIZE[mjNCONDATA]; // TODO(tassa): expose in public header?
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//-------------------------- get/set state ---------------------------------------------------------
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// return size of state signature
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MJAPI int mj_stateSize(const mjModel* m, unsigned int sig);
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// get state
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MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig);
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// set state
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MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig);
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// copy current state to the k-th model keyframe
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MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
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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)^(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 (lower triangle only)
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// destination can be sparse 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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//-------------------------- 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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//-------------------------- miscellaneous ---------------------------------------------------------
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// returns the smallest distance between two geoms
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MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
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mjtNum distmax, mjtNum fromto[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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// 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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// 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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// return total size of data fields in a contact sensor bitfield specification
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MJAPI int mju_condataSize(int dataSpec);
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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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