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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 | // Copyright 2021 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.
#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
#define MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#ifdef __cplusplus
extern "C" {
#endif
//-------------------------- position --------------------------------------------------------------
// forward kinematics
MJAPI void mj_kinematics(const mjModel* m, mjData* d);
// map inertias and motion dofs to global frame centered at CoM
MJAPI void mj_comPos(const mjModel* m, mjData* d);
// compute camera and light positions and orientations
MJAPI void mj_camlight(const mjModel* m, mjData* d);
// compute flex-related quantities
MJAPI void mj_flex(const mjModel* m, mjData* d);
// compute tendon lengths, velocities and moment arms
MJAPI void mj_tendon(const mjModel* m, mjData* d);
// compute time derivative of dense tendon Jacobian for one tendon
MJAPI void mj_tendonDot(const mjModel* m, mjData* d, int id, mjtNum* Jdot);
// compute actuator transmission lengths and moments
MJAPI void mj_transmission(const mjModel* m, mjData* d);
//-------------------------- inertia ---------------------------------------------------------------
// composite rigid body inertia algorithm
MJAPI void mj_crb(const mjModel* m, mjData* d);
// add tendon armature to qM
MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
// make inertia matrix
MJAPI void mj_makeM(const mjModel* m, mjData* d);
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation)
MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
mjtNum* qLD, mjtNum* qLDiagInv);
// sparse L'*D*L factorizaton of inertia-like matrix
MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
const int* rownnz, const int* rowadr, const int* colind);
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
MJAPI void mj_factorM(const mjModel* m, mjData* d);
// sparse backsubstitution: x = inv(L'*D*L)*x (legacy implementation)
MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
const mjtNum* qLD, const mjtNum* qLDiagInv);
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// handle n vectors at once
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* colind);
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n);
//-------------------------- velocity --------------------------------------------------------------
// compute cvel, cdof_dot
MJAPI void mj_comVel(const mjModel* m, mjData* d);
// subtree linear velocity and angular momentum
MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
//-------------------------- RNE -------------------------------------------------------------------
// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
//-------------------------- tendon bias -----------------------------------------------------------
// add bias force due to tendon armature
MJAPI void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc);
#ifdef __cplusplus
}
#endif
#endif // MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
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