Yuval Tassa
600c12533d
PiperOrigin-RevId: 562581620 Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
128 lines
4.7 KiB
C
128 lines
4.7 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_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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#include <mujoco/mjxmacro.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//-------------------------- Jacobian-related ------------------------------------------------------
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// determine type of friction cone
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MJAPI int mj_isPyramidal(const mjModel* m);
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// determine type of constraint Jacobian
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MJAPI int mj_isSparse(const mjModel* m);
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// determine type of solver
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MJAPI int mj_isDual(const mjModel* m);
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// multiply Jacobian by vector
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MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// multiply Jacobian by vector, for one island
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MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
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int island, int flg_resunc, int flg_vecunc);
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// multiply JacobianT by vector
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MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
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// multiply JacobianT by vector, for one island
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MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
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int island, int flg_resunc, int flg_vecunc);
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//-------------------------- utility functions -----------------------------------------------------
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// assign/override solver reference parameters
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void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source);
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// assign/override solver impedance parameters
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void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source);
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// assign/override geom/limit/tendon margin
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mjtNum mj_assignMargin(const mjModel* m, mjtNum source);
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// add contact to d->contact list; return 0 if success; 1 if buffer full
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MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
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// add #size rows to constraint Jacobian; set pos, margin, frictionloss, type, id
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// result: 0=success; 1=buffer full
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int mj_addConstraint(const mjModel* m, mjData* d,
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const mjtNum* jac, const mjtNum* pos,
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const mjtNum* margin, mjtNum frictionloss,
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int size, int type, int id, int NV, const int* chain);
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// merge dof chains for two bodies
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int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2);
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// merge dof chains for two simple bodies
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int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
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//-------------------------- constraint instantiation ----------------------------------------------
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// equality constraints
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void mj_instantiateEquality(const mjModel* m, mjData* d);
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// frictional dofs and tendons
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void mj_instantiateFriction(const mjModel* m, mjData* d);
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// joint and tendon limits
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void mj_instantiateLimit(const mjModel* m, mjData* d);
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// frictionelss and frictional contacts
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void mj_instantiateContact(const mjModel* m, mjData* d);
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//------------------------ parameter computation/extraction ----------------------------------------
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// compute efc_diagApprox
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void mj_diagApprox(const mjModel* m, mjData* d);
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// compute efc_R, efc_D, efc_KDIP, adjust diagApprox
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void mj_makeImpedance(const mjModel* m, mjData* d);
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//---------------------------- top-level API for constraint construction ---------------------------
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// main driver: call all functions above
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MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
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// compute efc_AR
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MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
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// compute efc_vel, efc_aref
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MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
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// compute efc_state, efc_force, qfrc_constraint
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// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
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MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
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mjtNum cost[1], int flg_coneHessian);
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// compute efc_state, efc_force, qfrc_constraint for one island
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MJAPI void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
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mjtNum cost[1], int flg_coneHessian, int island);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_H_
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