Saran Tunyasuvunakool
1e2a9a53bc
PiperOrigin-RevId: 474874088 Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
62 lines
2.3 KiB
C
62 lines
2.3 KiB
C
// Copyright 2022 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_INCLUDE_MJPLUGIN_H_
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#define MUJOCO_INCLUDE_MJPLUGIN_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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typedef enum mjtPluginTypeBit_ {
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mjPLUGIN_ACTUATOR = 1<<0,
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mjPLUGIN_SENSOR = 1<<1
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} mjtPluginTypeBit;
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struct mjpPlugin_ {
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const char* name; // globally unique name identifying the plugin
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int nattribute; // number of configuration attributes
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const char* const* attributes; // name of configuration attributes
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int type; // bitfield of mjtPluginTypeBits specifying the plugin type
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int needstage; // an mjtStage enum value specifying the sensor computation stage
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// number of mjtNums needed to store the state of a plugin instance (required)
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int (*nstate)(const mjModel* m, int instance);
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// dimension of the specified sensor's output (required only for sensor plugins)
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int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
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// called when a new mjData is being created (required)
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void (*init)(const mjModel* m, mjData* d, int instance);
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// called when an mjData is being freed (optional)
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void (*destroy)(mjData* d, int instance);
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// called when an mjData is being copied (optional)
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void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
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// called when an mjData is being reset (required)
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void (*reset)(const mjModel* m, mjData* d, int instance);
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// called when the plugin needs to update its outputs (required)
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void (*compute)(const mjModel* m, mjData* d, int instance, int type);
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// called when time integration occurs (optional)
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void (*advance)(const mjModel* m, mjData* d, int instance);
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};
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typedef struct mjpPlugin_ mjpPlugin;
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#endif // MUJOCO_INCLUDE_MJPLUGIN_H_
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