Yuval Tassa
893c404230
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group. - The first 6 actuator groups are toggleable in the `simulate` viewer. - Minor refactor and cleanup of actuator documentation. https://youtu.be/H9qG9Zf2W44 Fixes #1092. PiperOrigin-RevId: 578335600 Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
50 lines
1.7 KiB
C
50 lines
1.7 KiB
C
// Copyright 2023 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_MJMACRO_H_
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#define MUJOCO_MJMACRO_H_
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// include asan interface header, or provide stubs for poison/unpoison macros when not using asan
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#ifdef ADDRESS_SANITIZER
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#include <sanitizer/asan_interface.h>
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#elif defined(_MSC_VER)
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#define ASAN_POISON_MEMORY_REGION(addr, size)
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
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#else
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#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#endif
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// max and min (use only for primitive types)
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#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
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#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
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// return current value of mjOption enable/disable flags
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#define mjDISABLED(x) (m->opt.disableflags & (x))
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#define mjENABLED(x) (m->opt.enableflags & (x))
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// is actuator disabled
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#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
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// annotation for functions that accept printf-like variadic arguments
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#ifndef mjPRINTFLIKE
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#if defined(__GNUC__)
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#define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
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#else
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#define mjPRINTFLIKE(n, m)
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#endif
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#endif
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#endif // MUJOCO_MJMACRO_H_
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