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Mujoco_WASM/introspect/functions.py
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Yuval Tassa f4e7fa97af Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x. 
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:05:28 -07:00

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# 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.
# ==============================================================================
"""Provides information about MuJoCo API functions.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from .ast_nodes import ArrayType
from .ast_nodes import FunctionDecl
from .ast_nodes import FunctionParameterDecl
from .ast_nodes import PointerType
from .ast_nodes import ValueType
FUNCTIONS: Mapping[str, FunctionDecl] = dict([
('mj_defaultVFS',
FunctionDecl(
name='mj_defaultVFS',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
),
doc='Initialize VFS to empty (no deallocation).',
)),
('mj_addFileVFS',
FunctionDecl(
name='mj_addFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='directory',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
)),
('mj_makeEmptyFileVFS',
FunctionDecl(
name='mj_makeEmptyFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='filesize',
type=ValueType(name='int'),
),
),
doc='Make empty file in VFS, return 0: success, 1: full, 2: repeated name.', # pylint: disable=line-too-long
)),
('mj_findFileVFS',
FunctionDecl(
name='mj_findFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return file index in VFS, or -1 if not found in VFS.',
)),
('mj_deleteFileVFS',
FunctionDecl(
name='mj_deleteFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Delete file from VFS, return 0: success, -1: not found in VFS.',
)),
('mj_deleteVFS',
FunctionDecl(
name='mj_deleteVFS',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
),
doc='Delete all files from VFS.',
)),
('mj_loadXML',
FunctionDecl(
name='mj_loadXML',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
)),
('mj_saveLastXML',
FunctionDecl(
name='mj_saveLastXML',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
)),
('mj_freeLastXML',
FunctionDecl(
name='mj_freeLastXML',
return_type=ValueType(name='void'),
parameters=(),
doc='Free last XML model if loaded. Called internally at each load.',
)),
('mj_printSchema',
FunctionDecl(
name='mj_printSchema',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='buffer_sz',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_html',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_pad',
type=ValueType(name='int'),
),
),
doc='Print internal XML schema as plain text or HTML, with style-padding or  .', # pylint: disable=line-too-long
)),
('mj_step',
FunctionDecl(
name='mj_step',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation, use control callback to obtain external force and control.', # pylint: disable=line-too-long
)),
('mj_step1',
FunctionDecl(
name='mj_step1',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation in two steps: before external force and control is set by user.', # pylint: disable=line-too-long
)),
('mj_step2',
FunctionDecl(
name='mj_step2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation in two steps: after external force and control is set by user.', # pylint: disable=line-too-long
)),
('mj_forward',
FunctionDecl(
name='mj_forward',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Forward dynamics: same as mj_step but do not integrate in time.',
)),
('mj_inverse',
FunctionDecl(
name='mj_inverse',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Inverse dynamics: qacc must be set before calling.',
)),
('mj_forwardSkip',
FunctionDecl(
name='mj_forwardSkip',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='skipstage',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='skipsensor',
type=ValueType(name='int'),
),
),
doc='Forward dynamics with skip; skipstage is mjtStage.',
)),
('mj_inverseSkip',
FunctionDecl(
name='mj_inverseSkip',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='skipstage',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='skipsensor',
type=ValueType(name='int'),
),
),
doc='Inverse dynamics with skip; skipstage is mjtStage.',
)),
('mj_defaultLROpt',
FunctionDecl(
name='mj_defaultLROpt',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjLROpt'),
),
),
),
doc='Set default options for length range computation.',
)),
('mj_defaultSolRefImp',
FunctionDecl(
name='mj_defaultSolRefImp',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Set solver parameters to default values.',
)),
('mj_defaultOption',
FunctionDecl(
name='mj_defaultOption',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjOption'),
),
),
),
doc='Set physics options to default values.',
)),
('mj_defaultVisual',
FunctionDecl(
name='mj_defaultVisual',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vis',
type=PointerType(
inner_type=ValueType(name='mjVisual'),
),
),
),
doc='Set visual options to default values.',
)),
('mj_copyModel',
FunctionDecl(
name='mj_copyModel',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='dest',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Copy mjModel, allocate new if dest is NULL.',
)),
('mj_saveModel',
FunctionDecl(
name='mj_saveModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
),
FunctionParameterDecl(
name='buffer_sz',
type=ValueType(name='int'),
),
),
doc='Save model to binary MJB file or memory buffer; buffer has precedence when given.', # pylint: disable=line-too-long
)),
('mj_loadModel',
FunctionDecl(
name='mj_loadModel',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
),
doc='Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.', # pylint: disable=line-too-long
)),
('mj_deleteModel',
FunctionDecl(
name='mj_deleteModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
),
doc='Free memory allocation in model.',
)),
('mj_sizeModel',
FunctionDecl(
name='mj_sizeModel',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Return size of buffer needed to hold model.',
)),
('mj_makeData',
FunctionDecl(
name='mj_makeData',
return_type=PointerType(
inner_type=ValueType(name='mjData'),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Allocate mjData correponding to given model. If the model buffer is unallocated the initial configuration will not be set.', # pylint: disable=line-too-long
)),
('mj_copyData',
FunctionDecl(
name='mj_copyData',
return_type=PointerType(
inner_type=ValueType(name='mjData'),
),
parameters=(
FunctionParameterDecl(
name='dest',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
),
doc='Copy mjData. m is only required to contain the size fields from MJMODEL_INTS.', # pylint: disable=line-too-long
)),
('mj_resetData',
FunctionDecl(
name='mj_resetData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Reset data to defaults.',
)),
('mj_resetDataDebug',
FunctionDecl(
name='mj_resetDataDebug',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='debug_value',
type=ValueType(name='unsigned char'),
),
),
doc='Reset data to defaults, fill everything else with debug_value.',
)),
('mj_resetDataKeyframe',
FunctionDecl(
name='mj_resetDataKeyframe',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='key',
type=ValueType(name='int'),
),
),
doc='Reset data, set fields from specified keyframe.',
)),
('mj_stackAlloc',
FunctionDecl(
name='mj_stackAlloc',
return_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='size',
type=ValueType(name='int'),
),
),
doc='Allocate array of specified size on mjData stack. Call mju_error on stack overflow.', # pylint: disable=line-too-long
)),
('mj_deleteData',
FunctionDecl(
name='mj_deleteData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Free memory allocation in mjData.',
)),
('mj_resetCallbacks',
FunctionDecl(
name='mj_resetCallbacks',
return_type=ValueType(name='void'),
parameters=(),
doc='Reset all callbacks to NULL pointers (NULL is the default).',
)),
('mj_setConst',
FunctionDecl(
name='mj_setConst',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Set constant fields of mjModel, corresponding to qpos0 configuration.', # pylint: disable=line-too-long
)),
('mj_setLengthRange',
FunctionDecl(
name='mj_setLengthRange',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjLROpt', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.', # pylint: disable=line-too-long
)),
('mj_printFormattedModel',
FunctionDecl(
name='mj_printFormattedModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='float_format',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print mjModel to text file, specifying format. float_format must be a valid printf-style format string for a single float value.', # pylint: disable=line-too-long
)),
('mj_printModel',
FunctionDecl(
name='mj_printModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print model to text file.',
)),
('mj_printFormattedData',
FunctionDecl(
name='mj_printFormattedData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='float_format',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print mjData to text file, specifying format. float_format must be a valid printf-style format string for a single float value', # pylint: disable=line-too-long
)),
('mj_printData',
FunctionDecl(
name='mj_printData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print data to text file.',
)),
('mju_printMat',
FunctionDecl(
name='mju_printMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc='Print matrix to screen.',
)),
('mju_printMatSparse',
FunctionDecl(
name='mju_printMatSparse',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='rownnz',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='rowadr',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='colind',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
),
doc='Print sparse matrix to screen.',
)),
('mj_fwdPosition',
FunctionDecl(
name='mj_fwdPosition',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run position-dependent computations.',
)),
('mj_fwdVelocity',
FunctionDecl(
name='mj_fwdVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run velocity-dependent computations.',
)),
('mj_fwdActuation',
FunctionDecl(
name='mj_fwdActuation',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute actuator force qfrc_actuator.',
)),
('mj_fwdAcceleration',
FunctionDecl(
name='mj_fwdAcceleration',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Add up all non-constraint forces, compute qacc_unc.',
)),
('mj_fwdConstraint',
FunctionDecl(
name='mj_fwdConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run selected constraint solver.',
)),
('mj_Euler',
FunctionDecl(
name='mj_Euler',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Euler integrator, semi-implicit in velocity.',
)),
('mj_RungeKutta',
FunctionDecl(
name='mj_RungeKutta',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='N',
type=ValueType(name='int'),
),
),
doc='Runge-Kutta explicit order-N integrator.',
)),
('mj_invPosition',
FunctionDecl(
name='mj_invPosition',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run position-dependent computations in inverse dynamics.',
)),
('mj_invVelocity',
FunctionDecl(
name='mj_invVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run velocity-dependent computations in inverse dynamics.',
)),
('mj_invConstraint',
FunctionDecl(
name='mj_invConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Apply the analytical formula for inverse constraint dynamics.',
)),
('mj_compareFwdInv',
FunctionDecl(
name='mj_compareFwdInv',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compare forward and inverse dynamics, save results in fwdinv.',
)),
('mj_sensorPos',
FunctionDecl(
name='mj_sensorPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate position-dependent sensors.',
)),
('mj_sensorVel',
FunctionDecl(
name='mj_sensorVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate velocity-dependent sensors.',
)),
('mj_sensorAcc',
FunctionDecl(
name='mj_sensorAcc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate acceleration and force-dependent sensors.',
)),
('mj_energyPos',
FunctionDecl(
name='mj_energyPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate position-dependent energy (potential).',
)),
('mj_energyVel',
FunctionDecl(
name='mj_energyVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate velocity-dependent energy (kinetic).',
)),
('mj_checkPos',
FunctionDecl(
name='mj_checkPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qpos, reset if any element is too big or nan.',
)),
('mj_checkVel',
FunctionDecl(
name='mj_checkVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qvel, reset if any element is too big or nan.',
)),
('mj_checkAcc',
FunctionDecl(
name='mj_checkAcc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qacc, reset if any element is too big or nan.',
)),
('mj_kinematics',
FunctionDecl(
name='mj_kinematics',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run forward kinematics.',
)),
('mj_comPos',
FunctionDecl(
name='mj_comPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Map inertias and motion dofs to global frame centered at CoM.',
)),
('mj_camlight',
FunctionDecl(
name='mj_camlight',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute camera and light positions and orientations.',
)),
('mj_tendon',
FunctionDecl(
name='mj_tendon',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute tendon lengths, velocities and moment arms.',
)),
('mj_transmission',
FunctionDecl(
name='mj_transmission',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute actuator transmission lengths and moments.',
)),
('mj_crb',
FunctionDecl(
name='mj_crb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run composite rigid body inertia algorithm (CRB).',
)),
('mj_factorM',
FunctionDecl(
name='mj_factorM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc="Compute sparse L'*D*L factorizaton of inertia matrix.",
)),
('mj_solveM',
FunctionDecl(
name='mj_solveM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='y',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y", # pylint: disable=line-too-long
)),
('mj_solveM2',
FunctionDecl(
name='mj_solveM2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='y',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Half of linear solve: x = sqrt(inv(D))*inv(L')*y",
)),
('mj_comVel',
FunctionDecl(
name='mj_comVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute cvel, cdof_dot.',
)),
('mj_passive',
FunctionDecl(
name='mj_passive',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute qfrc_passive from spring-dampers, viscosity and density.',
)),
('mj_subtreeVel',
FunctionDecl(
name='mj_subtreeVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='subtree linear velocity and angular momentum',
)),
('mj_rne',
FunctionDecl(
name='mj_rne',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='flg_acc',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='result',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.', # pylint: disable=line-too-long
)),
('mj_rnePostConstraint',
FunctionDecl(
name='mj_rnePostConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='RNE with complete data: compute cacc, cfrc_ext, cfrc_int.',
)),
('mj_collision',
FunctionDecl(
name='mj_collision',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run collision detection.',
)),
('mj_makeConstraint',
FunctionDecl(
name='mj_makeConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Construct constraints.',
)),
('mj_projectConstraint',
FunctionDecl(
name='mj_projectConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute inverse constaint inertia efc_AR.',
)),
('mj_referenceConstraint',
FunctionDecl(
name='mj_referenceConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute efc_vel, efc_aref.',
)),
('mj_constraintUpdate',
FunctionDecl(
name='mj_constraintUpdate',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jar',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='cost',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(1,),
),
),
FunctionParameterDecl(
name='flg_coneHessian',
type=ValueType(name='int'),
),
),
doc='Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.', # pylint: disable=line-too-long
)),
('mj_addContact',
FunctionDecl(
name='mj_addContact',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjContact', is_const=True),
),
),
),
doc='Add contact to d->contact list; return 0 if success; 1 if buffer full.', # pylint: disable=line-too-long
)),
('mj_isPyramidal',
FunctionDecl(
name='mj_isPyramidal',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of friction cone.',
)),
('mj_isSparse',
FunctionDecl(
name='mj_isSparse',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of constraint Jacobian.',
)),
('mj_isDual',
FunctionDecl(
name='mj_isDual',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of solver (PGS is dual, CG and Newton are primal).', # pylint: disable=line-too-long
)),
('mj_mulJacVec',
FunctionDecl(
name='mj_mulJacVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply dense or sparse constraint Jacobian by vector.',
)),
('mj_mulJacTVec',
FunctionDecl(
name='mj_mulJacTVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply dense or sparse constraint Jacobian transpose by vector.', # pylint: disable=line-too-long
)),
('mj_jac',
FunctionDecl(
name='mj_jac',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.', # pylint: disable=line-too-long
)),
('mj_jacBody',
FunctionDecl(
name='mj_jacBody',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute body frame end-effector Jacobian.',
)),
('mj_jacBodyCom',
FunctionDecl(
name='mj_jacBodyCom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute body center-of-mass end-effector Jacobian.',
)),
('mj_jacSubtreeCom',
FunctionDecl(
name='mj_jacSubtreeCom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute subtree center-of-mass end-effector Jacobian.',
)),
('mj_jacGeom',
FunctionDecl(
name='mj_jacGeom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='geom',
type=ValueType(name='int'),
),
),
doc='Compute geom end-effector Jacobian.',
)),
('mj_jacSite',
FunctionDecl(
name='mj_jacSite',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='site',
type=ValueType(name='int'),
),
),
doc='Compute site end-effector Jacobian.',
)),
('mj_jacPointAxis',
FunctionDecl(
name='mj_jacPointAxis',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jacPoint',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacAxis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.', # pylint: disable=line-too-long
)),
('mj_name2id',
FunctionDecl(
name='mj_name2id',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='name',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Get id of object with specified name, return -1 if not found; type is mjtObj.', # pylint: disable=line-too-long
)),
('mj_id2name',
FunctionDecl(
name='mj_id2name',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
),
doc='Get name of object with specified id, return 0 if invalid type or id; type is mjtObj.', # pylint: disable=line-too-long
)),
('mj_fullM',
FunctionDecl(
name='mj_fullM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='M',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Convert sparse inertia matrix M into full (i.e. dense) matrix.',
)),
('mj_mulM',
FunctionDecl(
name='mj_mulM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply vector by inertia matrix.',
)),
('mj_mulM2',
FunctionDecl(
name='mj_mulM2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply vector by (inertia matrix)^(1/2).',
)),
('mj_addM',
FunctionDecl(
name='mj_addM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
doc='Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int* are NULL', # pylint: disable=line-too-long
)),
('mj_applyFT',
FunctionDecl(
name='mj_applyFT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='force',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='torque',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='qfrc_target',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Apply cartesian force and torque (outside xfrc_applied mechanism).', # pylint: disable=line-too-long
)),
('mj_objectVelocity',
FunctionDecl(
name='mj_objectVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='objtype',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='objid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_local',
type=ValueType(name='int'),
),
),
doc='Compute object 6D velocity in object-centered frame, world/local orientation.', # pylint: disable=line-too-long
)),
('mj_objectAcceleration',
FunctionDecl(
name='mj_objectAcceleration',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='objtype',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='objid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_local',
type=ValueType(name='int'),
),
),
doc='Compute object 6D acceleration in object-centered frame, world/local orientation.', # pylint: disable=line-too-long
)),
('mj_contactForce',
FunctionDecl(
name='mj_contactForce',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='result',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
),
doc='Extract 6D force:torque given contact id, in the contact frame.',
)),
('mj_differentiatePos',
FunctionDecl(
name='mj_differentiatePos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='qpos1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='qpos2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Compute velocity by finite-differencing two positions.',
)),
('mj_integratePos',
FunctionDecl(
name='mj_integratePos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate position with given velocity.',
)),
('mj_normalizeQuat',
FunctionDecl(
name='mj_normalizeQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Normalize all quaternions in qpos-type vector.',
)),
('mj_local2Global',
FunctionDecl(
name='mj_local2Global',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='xpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='xmat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='sameframe',
type=ValueType(name='mjtByte'),
),
),
doc='Map from body local to global Cartesian coordinates.',
)),
('mj_getTotalmass',
FunctionDecl(
name='mj_getTotalmass',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Sum all body masses.',
)),
('mj_setTotalmass',
FunctionDecl(
name='mj_setTotalmass',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='newmass',
type=ValueType(name='mjtNum'),
),
),
doc='Scale body masses and inertias to achieve specified total mass.',
)),
('mj_version',
FunctionDecl(
name='mj_version',
return_type=ValueType(name='int'),
parameters=(),
doc='Return version number: 1.0.2 is encoded as 102.',
)),
('mj_versionString',
FunctionDecl(
name='mj_versionString',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(),
doc='Return the current version of MuJoCo as a null-terminated string.', # pylint: disable=line-too-long
)),
('mj_ray',
FunctionDecl(
name='mj_ray',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection and output geomid. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long
)),
('mj_rayHfield',
FunctionDecl(
name='mj_rayHfield',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='geomid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Interect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mj_rayMesh',
FunctionDecl(
name='mj_rayMesh',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='geomid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Interect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_rayGeom',
FunctionDecl(
name='mju_rayGeom',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
FunctionParameterDecl(
name='size',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomtype',
type=ValueType(name='int'),
),
),
doc='Interect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_raySkin',
FunctionDecl(
name='mju_raySkin',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='nface',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nvert',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='face',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='vert',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vertid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Interect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
)),
('mjv_defaultCamera',
FunctionDecl(
name='mjv_defaultCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Set default camera.',
)),
('mjv_defaultFreeCamera',
FunctionDecl(
name='mjv_defaultFreeCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Set default free camera.',
)),
('mjv_defaultPerturb',
FunctionDecl(
name='mjv_defaultPerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Set default perturbation.',
)),
('mjv_room2model',
FunctionDecl(
name='mjv_room2model',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='modelpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='modelquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='roompos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='roomquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Transform pose from room to model space.',
)),
('mjv_model2room',
FunctionDecl(
name='mjv_model2room',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='roompos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='roomquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='modelpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='modelquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Transform pose from model to room space.',
)),
('mjv_cameraInModel',
FunctionDecl(
name='mjv_cameraInModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='headpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='up',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get camera info in model space; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_cameraInRoom',
FunctionDecl(
name='mjv_cameraInRoom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='headpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='up',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get camera info in room space; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_frustumHeight',
FunctionDecl(
name='mjv_frustumHeight',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get frustum height at unit distance from camera; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_alignToCamera',
FunctionDecl(
name='mjv_alignToCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).', # pylint: disable=line-too-long
)),
('mjv_moveCamera',
FunctionDecl(
name='mjv_moveCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Move camera with mouse; action is mjtMouse.',
)),
('mjv_movePerturb',
FunctionDecl(
name='mjv_movePerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Move perturb object with mouse; action is mjtMouse.',
)),
('mjv_moveModel',
FunctionDecl(
name='mjv_moveModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='roomup',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Move model with mouse; action is mjtMouse.',
)),
('mjv_initPerturb',
FunctionDecl(
name='mjv_initPerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Copy perturb pos,quat from selected body; set scale for perturbation.', # pylint: disable=line-too-long
)),
('mjv_applyPerturbPose',
FunctionDecl(
name='mjv_applyPerturbPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='flg_paused',
type=ValueType(name='int'),
),
),
doc='Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. Write d->qpos only if flg_paused and subtree root for selected body has free joint.', # pylint: disable=line-too-long
)),
('mjv_applyPerturbForce',
FunctionDecl(
name='mjv_applyPerturbForce',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
),
doc='Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.', # pylint: disable=line-too-long
)),
('mjv_averageCamera',
FunctionDecl(
name='mjv_averageCamera',
return_type=ValueType(name='mjvGLCamera'),
parameters=(
FunctionParameterDecl(
name='cam1',
type=PointerType(
inner_type=ValueType(name='mjvGLCamera', is_const=True),
),
),
FunctionParameterDecl(
name='cam2',
type=PointerType(
inner_type=ValueType(name='mjvGLCamera', is_const=True),
),
),
),
doc='Return the average of two OpenGL cameras.',
)),
('mjv_select',
FunctionDecl(
name='mjv_select',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='vopt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='aspectratio',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='relx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='rely',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='selpnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
FunctionParameterDecl(
name='skinid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Select geom or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
)),
('mjv_defaultOption',
FunctionDecl(
name='mjv_defaultOption',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption'),
),
),
),
doc='Set default visualization options.',
)),
('mjv_defaultFigure',
FunctionDecl(
name='mjv_defaultFigure',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='fig',
type=PointerType(
inner_type=ValueType(name='mjvFigure'),
),
),
),
doc='Set default figure.',
)),
('mjv_initGeom',
FunctionDecl(
name='mjv_initGeom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='geom',
type=PointerType(
inner_type=ValueType(name='mjvGeom'),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='size',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
FunctionParameterDecl(
name='rgba',
type=ArrayType(
inner_type=ValueType(name='float', is_const=True),
extents=(4,),
),
),
),
doc='Initialize given geom fields when not NULL, set the rest to their default values.', # pylint: disable=line-too-long
)),
('mjv_makeConnector',
FunctionDecl(
name='mjv_makeConnector',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='geom',
type=PointerType(
inner_type=ValueType(name='mjvGeom'),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='width',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a1',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a2',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b1',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b2',
type=ValueType(name='mjtNum'),
),
),
doc='Set (type, size, pos, mat) for connector-type geom between given points. Assume that mjv_initGeom was already called to set all other properties.', # pylint: disable=line-too-long
)),
('mjv_defaultScene',
FunctionDecl(
name='mjv_defaultScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Set default abstract scene.',
)),
('mjv_makeScene',
FunctionDecl(
name='mjv_makeScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
FunctionParameterDecl(
name='maxgeom',
type=ValueType(name='int'),
),
),
doc='Allocate resources in abstract scene.',
)),
('mjv_freeScene',
FunctionDecl(
name='mjv_freeScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Free abstract scene.',
)),
('mjv_updateScene',
FunctionDecl(
name='mjv_updateScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update entire scene given model state.',
)),
('mjv_addGeoms',
FunctionDecl(
name='mjv_addGeoms',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Add geoms from selected categories.',
)),
('mjv_makeLights',
FunctionDecl(
name='mjv_makeLights',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Make list of lights.',
)),
('mjv_updateCamera',
FunctionDecl(
name='mjv_updateCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update camera.',
)),
('mjv_updateSkin',
FunctionDecl(
name='mjv_updateSkin',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update skins.',
)),
('mjr_defaultContext',
FunctionDecl(
name='mjr_defaultContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Set default mjrContext.',
)),
('mjr_makeContext',
FunctionDecl(
name='mjr_makeContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
FunctionParameterDecl(
name='fontscale',
type=ValueType(name='int'),
),
),
doc='Allocate resources in custom OpenGL context; fontscale is mjtFontScale.', # pylint: disable=line-too-long
)),
('mjr_changeFont',
FunctionDecl(
name='mjr_changeFont',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='fontscale',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Change font of existing context.',
)),
('mjr_addAux',
FunctionDecl(
name='mjr_addAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='width',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='height',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='samples',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Add Aux buffer with given index to context; free previous Aux buffer.', # pylint: disable=line-too-long
)),
('mjr_freeContext',
FunctionDecl(
name='mjr_freeContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Free resources in custom OpenGL context, set to default.',
)),
('mjr_uploadTexture',
FunctionDecl(
name='mjr_uploadTexture',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='texid',
type=ValueType(name='int'),
),
),
doc='Upload texture to GPU, overwriting previous upload if any.',
)),
('mjr_uploadMesh',
FunctionDecl(
name='mjr_uploadMesh',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='meshid',
type=ValueType(name='int'),
),
),
doc='Upload mesh to GPU, overwriting previous upload if any.',
)),
('mjr_uploadHField',
FunctionDecl(
name='mjr_uploadHField',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='hfieldid',
type=ValueType(name='int'),
),
),
doc='Upload height field to GPU, overwriting previous upload if any.',
)),
('mjr_restoreBuffer',
FunctionDecl(
name='mjr_restoreBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Make con->currentBuffer current again.',
)),
('mjr_setBuffer',
FunctionDecl(
name='mjr_setBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='framebuffer',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.', # pylint: disable=line-too-long
)),
('mjr_readPixels',
FunctionDecl(
name='mjr_readPixels',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='rgb',
type=PointerType(
inner_type=ValueType(name='unsigned char'),
),
),
FunctionParameterDecl(
name='depth',
type=PointerType(
inner_type=ValueType(name='float'),
),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long
)),
('mjr_drawPixels',
FunctionDecl(
name='mjr_drawPixels',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='rgb',
type=PointerType(
inner_type=ValueType(name='unsigned char', is_const=True),
),
),
FunctionParameterDecl(
name='depth',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long
)),
('mjr_blitBuffer',
FunctionDecl(
name='mjr_blitBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='src',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='dst',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='flg_color',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_depth',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.', # pylint: disable=line-too-long
)),
('mjr_setAux',
FunctionDecl(
name='mjr_setAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).', # pylint: disable=line-too-long
)),
('mjr_blitAux',
FunctionDecl(
name='mjr_blitAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='src',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='left',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='bottom',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Blit from Aux buffer to con->currentBuffer.',
)),
('mjr_text',
FunctionDecl(
name='mjr_text',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='txt',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='x',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='y',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
),
doc='Draw text at (x,y) in relative coordinates; font is mjtFont.',
)),
('mjr_overlay',
FunctionDecl(
name='mjr_overlay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='gridpos',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='overlay',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='overlay2',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw text overlay; font is mjtFont; gridpos is mjtGridPos.',
)),
('mjr_maxViewport',
FunctionDecl(
name='mjr_maxViewport',
return_type=ValueType(name='mjrRect'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Get maximum viewport for active buffer.',
)),
('mjr_rectangle',
FunctionDecl(
name='mjr_rectangle',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='a',
type=ValueType(name='float'),
),
),
doc='Draw rectangle.',
)),
('mjr_label',
FunctionDecl(
name='mjr_label',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='txt',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='a',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='rt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='gt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='bt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw rectangle with centered text.',
)),
('mjr_figure',
FunctionDecl(
name='mjr_figure',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='fig',
type=PointerType(
inner_type=ValueType(name='mjvFigure'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw 2D figure.',
)),
('mjr_render',
FunctionDecl(
name='mjr_render',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Render 3D scene.',
)),
('mjr_finish',
FunctionDecl(
name='mjr_finish',
return_type=ValueType(name='void'),
parameters=(),
doc='Call glFinish.',
)),
('mjr_getError',
FunctionDecl(
name='mjr_getError',
return_type=ValueType(name='int'),
parameters=(),
doc='Call glGetError and return result.',
)),
('mjr_findRect',
FunctionDecl(
name='mjr_findRect',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='y',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nrect',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='rect',
type=PointerType(
inner_type=ValueType(name='mjrRect', is_const=True),
),
),
),
doc='Find first rectangle containing mouse, -1: not found.',
)),
('mjui_themeSpacing',
FunctionDecl(
name='mjui_themeSpacing',
return_type=ValueType(name='mjuiThemeSpacing'),
parameters=(
FunctionParameterDecl(
name='ind',
type=ValueType(name='int'),
),
),
doc='Get builtin UI theme spacing (ind: 0-1).',
)),
('mjui_themeColor',
FunctionDecl(
name='mjui_themeColor',
return_type=ValueType(name='mjuiThemeColor'),
parameters=(
FunctionParameterDecl(
name='ind',
type=ValueType(name='int'),
),
),
doc='Get builtin UI theme color (ind: 0-3).',
)),
('mjui_add',
FunctionDecl(
name='mjui_add',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='def',
type=PointerType(
inner_type=ValueType(name='mjuiDef', is_const=True),
),
),
),
doc='Add definitions to UI.',
)),
('mjui_addToSection',
FunctionDecl(
name='mjui_addToSection',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='sect',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='def',
type=PointerType(
inner_type=ValueType(name='mjuiDef', is_const=True),
),
),
),
doc='Add definitions to UI section.',
)),
('mjui_resize',
FunctionDecl(
name='mjui_resize',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Compute UI sizes.',
)),
('mjui_update',
FunctionDecl(
name='mjui_update',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='section',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='item',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI', is_const=True),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Update specific section/item; -1: update all.',
)),
('mjui_event',
FunctionDecl(
name='mjui_event',
return_type=PointerType(
inner_type=ValueType(name='mjuiItem'),
),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Handle UI event, return pointer to changed item, NULL if no change.', # pylint: disable=line-too-long
)),
('mjui_render',
FunctionDecl(
name='mjui_render',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Copy UI image to current buffer.',
)),
('mju_error',
FunctionDecl(
name='mju_error',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Main error function; does not return to caller.',
)),
('mju_error_i',
FunctionDecl(
name='mju_error_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Error function with int argument; msg is a printf format string.',
)),
('mju_error_s',
FunctionDecl(
name='mju_error_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Error function with string argument.',
)),
('mju_warning',
FunctionDecl(
name='mju_warning',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Main warning function; returns to caller.',
)),
('mju_warning_i',
FunctionDecl(
name='mju_warning_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Warning function with int argument.',
)),
('mju_warning_s',
FunctionDecl(
name='mju_warning_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Warning function with string argument.',
)),
('mju_clearHandlers',
FunctionDecl(
name='mju_clearHandlers',
return_type=ValueType(name='void'),
parameters=(),
doc='Clear user error and memory handlers.',
)),
('mju_malloc',
FunctionDecl(
name='mju_malloc',
return_type=PointerType(
inner_type=ValueType(name='void'),
),
parameters=(
FunctionParameterDecl(
name='size',
type=ValueType(name='size_t'),
),
),
doc='Allocate memory; byte-align on 64; pad size to multiple of 64.',
)),
('mju_free',
FunctionDecl(
name='mju_free',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ptr',
type=PointerType(
inner_type=ValueType(name='void'),
),
),
),
doc='Free memory, using free() by default.',
)),
('mj_warning',
FunctionDecl(
name='mj_warning',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='warning',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='info',
type=ValueType(name='int'),
),
),
doc='High-level warning function: count warnings in mjData, print only the first.', # pylint: disable=line-too-long
)),
('mju_writeLog',
FunctionDecl(
name='mju_writeLog',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='type',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Write [datetime, type: message] to MUJOCO_LOG.TXT.',
)),
('mj_activate',
FunctionDecl(
name='mj_activate',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return 1 (for backward compatibility).',
)),
('mj_deactivate',
FunctionDecl(
name='mj_deactivate',
return_type=ValueType(name='void'),
parameters=(),
doc='Do nothing (for backward compatibility).',
)),
('mju_zero3',
FunctionDecl(
name='mju_zero3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
),
doc='Set res = 0.',
)),
('mju_copy3',
FunctionDecl(
name='mju_copy3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='data',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec.',
)),
('mju_scl3',
FunctionDecl(
name='mju_scl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = vec*scl.',
)),
('mju_add3',
FunctionDecl(
name='mju_add3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec1 + vec2.',
)),
('mju_sub3',
FunctionDecl(
name='mju_sub3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec1 - vec2.',
)),
('mju_addTo3',
FunctionDecl(
name='mju_addTo3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = res + vec.',
)),
('mju_subFrom3',
FunctionDecl(
name='mju_subFrom3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = res - vec.',
)),
('mju_addToScl3',
FunctionDecl(
name='mju_addToScl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = res + vec*scl.',
)),
('mju_addScl3',
FunctionDecl(
name='mju_addScl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = vec1 + vec2*scl.',
)),
('mju_normalize3',
FunctionDecl(
name='mju_normalize3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_norm3',
FunctionDecl(
name='mju_norm3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return vector length (without normalizing the vector).',
)),
('mju_dot3',
FunctionDecl(
name='mju_dot3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return dot-product of vec1 and vec2.',
)),
('mju_dist3',
FunctionDecl(
name='mju_dist3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return Cartesian distance between 3D vectors pos1 and pos2.',
)),
('mju_rotVecMat',
FunctionDecl(
name='mju_rotVecMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Multiply vector by 3D rotation matrix: res = mat * vec.',
)),
('mju_rotVecMatT',
FunctionDecl(
name='mju_rotVecMatT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc="Multiply vector by transposed 3D rotation matrix: res = mat' * vec.", # pylint: disable=line-too-long
)),
('mju_cross',
FunctionDecl(
name='mju_cross',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='a',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='b',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Compute cross-product: res = cross(a, b).',
)),
('mju_zero4',
FunctionDecl(
name='mju_zero4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Set res = 0.',
)),
('mju_unit4',
FunctionDecl(
name='mju_unit4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Set res = (1,0,0,0).',
)),
('mju_copy4',
FunctionDecl(
name='mju_copy4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='data',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Set res = vec.',
)),
('mju_normalize4',
FunctionDecl(
name='mju_normalize4',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_zero',
FunctionDecl(
name='mju_zero',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = 0.',
)),
('mju_copy',
FunctionDecl(
name='mju_copy',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='data',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec.',
)),
('mju_sum',
FunctionDecl(
name='mju_sum',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return sum(vec).',
)),
('mju_L1',
FunctionDecl(
name='mju_L1',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return L1 norm: sum(abs(vec)).',
)),
('mju_scl',
FunctionDecl(
name='mju_scl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec*scl.',
)),
('mju_add',
FunctionDecl(
name='mju_add',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 + vec2.',
)),
('mju_sub',
FunctionDecl(
name='mju_sub',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 - vec2.',
)),
('mju_addTo',
FunctionDecl(
name='mju_addTo',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res + vec.',
)),
('mju_subFrom',
FunctionDecl(
name='mju_subFrom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res - vec.',
)),
('mju_addToScl',
FunctionDecl(
name='mju_addToScl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res + vec*scl.',
)),
('mju_addScl',
FunctionDecl(
name='mju_addScl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 + vec2*scl.',
)),
('mju_normalize',
FunctionDecl(
name='mju_normalize',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_norm',
FunctionDecl(
name='mju_norm',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return vector length (without normalizing vector).',
)),
('mju_dot',
FunctionDecl(
name='mju_dot',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int', is_const=True),
),
),
doc='Return dot-product of vec1 and vec2.',
)),
('mju_mulMatVec',
FunctionDecl(
name='mju_mulMatVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc='Multiply matrix and vector: res = mat * vec.',
)),
('mju_mulMatTVec',
FunctionDecl(
name='mju_mulMatTVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Multiply transposed matrix and vector: res = mat' * vec.",
)),
('mju_mulVecMatVec',
FunctionDecl(
name='mju_mulVecMatVec',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Multiply square matrix with vectors on both sides: returns vec1'*mat*vec2.", # pylint: disable=line-too-long
)),
('mju_transpose',
FunctionDecl(
name='mju_transpose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Transpose matrix: res = mat'.",
)),
('mju_mulMatMat',
FunctionDecl(
name='mju_mulMatMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c2',
type=ValueType(name='int'),
),
),
doc='Multiply matrices: res = mat1 * mat2.',
)),
('mju_mulMatMatT',
FunctionDecl(
name='mju_mulMatMatT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='r2',
type=ValueType(name='int'),
),
),
doc="Multiply matrices, second argument transposed: res = mat1 * mat2'.", # pylint: disable=line-too-long
)),
('mju_mulMatTMat',
FunctionDecl(
name='mju_mulMatTMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c2',
type=ValueType(name='int'),
),
),
doc="Multiply matrices, first argument transposed: res = mat1' * mat2.", # pylint: disable=line-too-long
)),
('mju_sqrMatTD',
FunctionDecl(
name='mju_sqrMatTD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='diag',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.", # pylint: disable=line-too-long
)),
('mju_transformSpatial',
FunctionDecl(
name='mju_transformSpatial',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_force',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='newpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='oldpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='rotnew2old',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.', # pylint: disable=line-too-long
)),
('mju_rotVecQuat',
FunctionDecl(
name='mju_rotVecQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Rotate vector by quaternion.',
)),
('mju_negQuat',
FunctionDecl(
name='mju_negQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Conjugate quaternion, corresponding to opposite rotation.',
)),
('mju_mulQuat',
FunctionDecl(
name='mju_mulQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Multiply quaternions.',
)),
('mju_mulQuatAxis',
FunctionDecl(
name='mju_mulQuatAxis',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Multiply quaternion and axis.',
)),
('mju_axisAngle2Quat',
FunctionDecl(
name='mju_axisAngle2Quat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='angle',
type=ValueType(name='mjtNum'),
),
),
doc='Convert axisAngle to quaternion.',
)),
('mju_quat2Vel',
FunctionDecl(
name='mju_quat2Vel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Convert quaternion (corresponding to orientation difference) to 3D velocity.', # pylint: disable=line-too-long
)),
('mju_subQuat',
FunctionDecl(
name='mju_subQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='qa',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='qb',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.',
)),
('mju_quat2Mat',
FunctionDecl(
name='mju_quat2Mat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Convert quaternion to 3D rotation matrix.',
)),
('mju_mat2Quat',
FunctionDecl(
name='mju_mat2Quat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Convert 3D rotation matrix to quaternion.',
)),
('mju_derivQuat',
FunctionDecl(
name='mju_derivQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='vel',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Compute time-derivative of quaternion, given 3D rotational velocity.', # pylint: disable=line-too-long
)),
('mju_quatIntegrate',
FunctionDecl(
name='mju_quatIntegrate',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='vel',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scale',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate quaternion given 3D angular velocity.',
)),
('mju_quatZ2Vec',
FunctionDecl(
name='mju_quatZ2Vec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Construct quaternion performing rotation from z-axis to given vector.', # pylint: disable=line-too-long
)),
('mju_mulPose',
FunctionDecl(
name='mju_mulPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='posres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quatres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Multiply two poses.',
)),
('mju_negPose',
FunctionDecl(
name='mju_negPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='posres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quatres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Conjugate pose, corresponding to the opposite spatial transformation.', # pylint: disable=line-too-long
)),
('mju_trnVecPose',
FunctionDecl(
name='mju_trnVecPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Transform vector by pose.',
)),
('mju_cholFactor',
FunctionDecl(
name='mju_cholFactor',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='mindiag',
type=ValueType(name='mjtNum'),
),
),
doc="Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.", # pylint: disable=line-too-long
)),
('mju_cholSolve',
FunctionDecl(
name='mju_cholSolve',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Solve mat * res = vec, where mat is Cholesky-factorized',
)),
('mju_cholUpdate',
FunctionDecl(
name='mju_cholUpdate',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_plus',
type=ValueType(name='int'),
),
),
doc="Cholesky rank-one update: L*L' +/- x*x'; return rank.",
)),
('mju_eig3',
FunctionDecl(
name='mju_eig3',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='eigval',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='eigvec',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Eigenvalue decomposition of symmetric 3x3 matrix.',
)),
('mju_boxQP',
FunctionDecl(
name='mju_boxQP',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
)),
('mju_boxQPmalloc',
FunctionDecl(
name='mju_boxQPmalloc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
),
doc='allocate heap memory for box-constrained Quadratic Program as in mju_boxQP, index, lower, and upper are optional free all pointers with mju_free()', # pylint: disable=line-too-long
)),
('mju_muscleGain',
FunctionDecl(
name='mju_muscleGain',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='len',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='vel',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='lengthrange',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
FunctionParameterDecl(
name='acc0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long
)),
('mju_muscleBias',
FunctionDecl(
name='mju_muscleBias',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='len',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='lengthrange',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
FunctionParameterDecl(
name='acc0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long
)),
('mju_muscleDynamics',
FunctionDecl(
name='mju_muscleDynamics',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='ctrl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='act',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
),
doc='Muscle activation dynamics, prm = (tau_act, tau_deact).',
)),
('mju_encodePyramid',
FunctionDecl(
name='mju_encodePyramid',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='pyramid',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='force',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mu',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dim',
type=ValueType(name='int'),
),
),
doc='Convert contact force to pyramid representation.',
)),
('mju_decodePyramid',
FunctionDecl(
name='mju_decodePyramid',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='pyramid',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mu',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dim',
type=ValueType(name='int'),
),
),
doc='Convert pyramid representation to contact force.',
)),
('mju_springDamper',
FunctionDecl(
name='mju_springDamper',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='vel0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='Kp',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='Kv',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate spring-damper analytically, return pos(dt).',
)),
('mju_min',
FunctionDecl(
name='mju_min',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='a',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='mjtNum'),
),
),
doc='Return min(a,b) with single evaluation of a and b.',
)),
('mju_max',
FunctionDecl(
name='mju_max',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='a',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='mjtNum'),
),
),
doc='Return max(a,b) with single evaluation of a and b.',
)),
('mju_clip',
FunctionDecl(
name='mju_clip',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='min',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='max',
type=ValueType(name='mjtNum'),
),
),
doc='Clip x to the range [min, max].',
)),
('mju_sign',
FunctionDecl(
name='mju_sign',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Return sign of x: +1, -1 or 0.',
)),
('mju_round',
FunctionDecl(
name='mju_round',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Round x to nearest integer.',
)),
('mju_type2Str',
FunctionDecl(
name='mju_type2Str',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
),
doc='Convert type id (mjtObj) to type name.',
)),
('mju_str2Type',
FunctionDecl(
name='mju_str2Type',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='str',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Convert type name to type id (mjtObj).',
)),
('mju_warningText',
FunctionDecl(
name='mju_warningText',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='warning',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='info',
type=ValueType(name='int'),
),
),
doc='Construct a warning message given the warning type and info.',
)),
('mju_isBad',
FunctionDecl(
name='mju_isBad',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.', # pylint: disable=line-too-long
)),
('mju_isZero',
FunctionDecl(
name='mju_isZero',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return 1 if all elements are 0.',
)),
('mju_standardNormal',
FunctionDecl(
name='mju_standardNormal',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='num2',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Standard normal random number generator (optional second number).', # pylint: disable=line-too-long
)),
('mju_f2n',
FunctionDecl(
name='mju_f2n',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from float to mjtNum.',
)),
('mju_n2f',
FunctionDecl(
name='mju_n2f',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='float'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from mjtNum to float.',
)),
('mju_d2n',
FunctionDecl(
name='mju_d2n',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='double', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from double to mjtNum.',
)),
('mju_n2d',
FunctionDecl(
name='mju_n2d',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='double'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from mjtNum to double.',
)),
('mju_insertionSort',
FunctionDecl(
name='mju_insertionSort',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='list',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Insertion sort, resulting list is in increasing order.',
)),
('mju_insertionSortInt',
FunctionDecl(
name='mju_insertionSortInt',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='list',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Integer insertion sort, resulting list is in increasing order.',
)),
('mju_Halton',
FunctionDecl(
name='mju_Halton',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='base',
type=ValueType(name='int'),
),
),
doc='Generate Halton sequence.',
)),
('mju_strncpy',
FunctionDecl(
name='mju_strncpy',
return_type=PointerType(
inner_type=ValueType(name='char'),
),
parameters=(
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Call strncpy, then set dst[n-1] = 0.',
)),
('mju_sigmoid',
FunctionDecl(
name='mju_sigmoid',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Sigmoid function over 0<=x<=1 constructed from half-quadratics.',
)),
('mjd_transitionFD',
FunctionDecl(
name='mjd_transitionFD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='eps',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='centered',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='A',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='B',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='C',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='D',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Finite differenced transition matrices (control theory notation) d(x_next) = A*dx + B*du d(sensor) = C*dx + D*du required output matrix dimensions: A: (2*nv+na x 2*nv+na) B: (2*nv+na x nu) D: (nsensordata x 2*nv+na) C: (nsensordata x nu)', # pylint: disable=line-too-long
)),
])
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