// 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.

#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_

#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>

#ifdef __cplusplus
extern "C" {
#endif

// centered finite difference approximation to mjd_smooth_vel
MJAPI void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps);

// add forward finite difference approximation of (d qfrc_passive / d qvel) to qDeriv
MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);

// advance simulation using control callback, skipstage is mjtStage
MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);

// finite differenced transition matrices (control theory notation)
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
                            mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);

// finite differenced Jacobian of  (force, sensors) = mj_inverse(state, acceleration)
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
                         mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
                         mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
                         mjtNum *DmDq);

#ifdef __cplusplus
}
#endif

#endif  // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_