DeepMind
64bc6d27b2
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities: - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm. - Damping and fluid-drag passive forces. - Actuation forces. A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost. PiperOrigin-RevId: 450377010 Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
58 lines
1.8 KiB
CMake
58 lines
1.8 KiB
CMake
# 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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# https://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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mujoco_test(engine_collision_convex_test)
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target_link_libraries(engine_collision_convex_test fixture gmock)
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mujoco_test(engine_collision_driver_test)
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target_link_libraries(engine_collision_driver_test fixture gmock)
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mujoco_test(engine_core_smooth_test)
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target_link_libraries(engine_core_smooth_test fixture gmock)
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mujoco_test(engine_derivative_test)
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target_link_libraries(engine_derivative_test fixture gmock)
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mujoco_test(engine_forward_test)
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target_link_libraries(engine_forward_test fixture gmock)
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mujoco_test(engine_io_test)
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target_link_libraries(
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engine_io_test
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fixture
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gmock
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absl::str_format
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)
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mujoco_test(engine_ray_test)
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target_link_libraries(engine_ray_test fixture gmock)
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mujoco_test(engine_sensor_test)
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target_link_libraries(engine_sensor_test fixture gmock)
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mujoco_test(engine_support_test)
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target_link_libraries(engine_support_test fixture gmock)
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mujoco_test(engine_util_blas_test)
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target_link_libraries(engine_util_blas_test fixture gmock)
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mujoco_test(engine_util_errmem_test)
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target_link_libraries(engine_util_errmem_test fixture gmock)
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mujoco_test(engine_util_solve_test)
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target_link_libraries(engine_util_solve_test fixture gmock)
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mujoco_test(engine_util_spatial_test)
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target_link_libraries(engine_util_spatial_test fixture gmock)
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