Yuval Tassa
6419534bad
PiperOrigin-RevId: 866478839 Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
54 lines
1.7 KiB
C
54 lines
1.7 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_SENSOR_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_SENSOR_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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//-------------------------------- sensors ---------------------------------------------------------
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// compute value for one sensor, write to sensordata, apply cutoff
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void mj_computeSensor(const mjModel* m, mjData* d, int i, mjtNum* sensordata);
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// position-dependent sensors
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MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
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// velocity-dependent sensors
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MJAPI void mj_sensorVel(const mjModel* m, mjData* d);
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// acceleration/force-dependent sensors
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MJAPI void mj_sensorAcc(const mjModel* m, mjData* d);
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//-------------------------------- energy ----------------------------------------------------------
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// position-dependent energy (potential)
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MJAPI void mj_energyPos(const mjModel* m, mjData* d);
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// velocity-dependent energy (kinetic)
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MJAPI void mj_energyVel(const mjModel* m, mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_SENSOR_H_
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