Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
127 lines
4.2 KiB
C
127 lines
4.2 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_UTIL_MISC_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_MISC_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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//------------------------------ tendons and actuators ---------------------------------------------
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// wrap tendons around spheres and cylinders
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mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
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const mjtNum* xpos, const mjtNum* xmat, const mjtNum* size,
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int type, const mjtNum* side);
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// muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
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MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
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mjtNum acc0, const mjtNum prm[9]);
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// muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
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MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
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mjtNum acc0, const mjtNum prm[9]);
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// muscle activation dynamics, prm = (tau_act, tau_deact)
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MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[2]);
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//------------------------------ misclellaneous ----------------------------------------------------
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// convert contact force to pyramid representation
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MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force,
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const mjtNum* mu, int dim);
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// convert pyramid representation to contact force
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MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid,
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const mjtNum* mu, int dim);
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// integrate spring-damper analytically, return pos(dt)
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MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
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// print matrix
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MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
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// print sparse matrix to screen
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MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
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const int* rownnz, const int* rowadr,
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const int* colind);
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// min function, single evaluation of a and b
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MJAPI mjtNum mju_min(mjtNum a, mjtNum b);
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// max function, single evaluation of a and b
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MJAPI mjtNum mju_max(mjtNum a, mjtNum b);
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// sign function
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MJAPI mjtNum mju_sign(mjtNum x);
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// round to nearest integer
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MJAPI int mju_round(mjtNum x);
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// convert type id (mjtObj) to type name
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MJAPI const char* mju_type2Str(int type);
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// convert type name to type id (mjtObj)
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MJAPI int mju_str2Type(const char* str);
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// warning text
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MJAPI const char* mju_warningText(int warning, int info);
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// return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise
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MJAPI int mju_isBad(mjtNum x);
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// return 1 if all elements are 0
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MJAPI int mju_isZero(mjtNum* vec, int n);
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// standard normal random number generator (optional second number)
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MJAPI mjtNum mju_standardNormal(mjtNum* num2);
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// convert from float to mjtNum
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MJAPI void mju_f2n(mjtNum* res, const float* vec, int n);
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// convert from mjtNum to float
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MJAPI void mju_n2f(float* res, const mjtNum* vec, int n);
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// convert from double to mjtNum
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MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
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// convert from mjtNum to double
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MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
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// insertion sort, increasing order
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MJAPI void mju_insertionSort(mjtNum* list, int n);
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// integer insertion sort, increasing order
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MJAPI void mju_insertionSortInt(int* list, int n);
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// Halton sequence
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MJAPI mjtNum mju_Halton(int index, int base);
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// Call strncpy, then set dst[n-1] = 0.
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MJAPI char* mju_strncpy(char *dst, const char *src, int n);
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// Sigmoid function over 0<=x<=1 constructed from half-quadratics.
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MJAPI mjtNum mju_sigmoid(mjtNum x);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_UTIL_MISC_H_
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