Yuval Tassa
c50177d301
Fixes #703. PiperOrigin-RevId: 527899700 Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
50 lines
1.9 KiB
C
50 lines
1.9 KiB
C
// Copyright 2022 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
|
|
#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
|
|
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjexport.h>
|
|
#include <mujoco/mjmodel.h>
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
// centered finite difference approximation to mjd_smooth_vel
|
|
MJAPI void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps);
|
|
|
|
// add forward finite difference approximation of (d qfrc_passive / d qvel) to qDeriv
|
|
MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);
|
|
|
|
// advance simulation using control callback, skipstage is mjtStage
|
|
MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
|
|
|
|
// finite differenced transition matrices (control theory notation)
|
|
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
|
|
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
|
|
|
|
// finite differenced Jacobian of (force, sensors) = mj_inverse(state, acceleration)
|
|
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
|
|
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
|
|
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
|
|
mjtNum *DmDq);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
|