Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
50 lines
1.5 KiB
C
50 lines
1.5 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_INVERSE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_INVERSE_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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// inverse dynamics
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MJAPI void mj_inverse(const mjModel* m, mjData* d);
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// Inverse dynamics with skip; skipstage is mjtStage.
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MJAPI void mj_inverseSkip(const mjModel* m, mjData* d,
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int skipstage, int skipsensor);
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// position-dependent computations
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MJAPI void mj_invPosition(const mjModel* m, mjData* d);
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// velocity-dependent computations
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MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
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// inverse constraint solver
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MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
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// compare forward and inverse dynamics, without changing results of forward dynamics
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MJAPI void mj_compareFwdInv(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_INVERSE_H_
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