Yuval Tassa
90813b8198
PiperOrigin-RevId: 529418945 Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
47 lines
1.5 KiB
C
47 lines
1.5 KiB
C
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// derivative of mju_subQuat w.r.t inputs
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MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
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// analytical derivative of smooth forces w.r.t velocities:
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// d->qDeriv = d (qfrc_actuator + qfrc_passive - [qfrc_bias]) / d qvel
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MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d, int flg_bias);
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// add (d qfrc_actuator / d qvel) to qDeriv
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MJAPI void mjd_actuator_vel(const mjModel* m, mjData* d);
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// add (d qfrc_passive / d qvel) to qDeriv
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MJAPI void mjd_passive_vel(const mjModel* m, mjData* d);
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// subtract (d qfrc_bias / d qvel) from qDeriv (dense version)
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MJAPI void mjd_rne_vel_dense(const mjModel* m, mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
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