# 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. # ============================================================================== """Provides information about MuJoCo API functions. DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED. """ from typing import Mapping from .ast_nodes import ArrayType from .ast_nodes import FunctionDecl from .ast_nodes import FunctionParameterDecl from .ast_nodes import PointerType from .ast_nodes import ValueType FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ('mj_defaultVFS', FunctionDecl( name='mj_defaultVFS', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS'), ), ), ), doc='Initialize VFS to empty (no deallocation).', )), ('mj_addFileVFS', FunctionDecl( name='mj_addFileVFS', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS'), ), ), FunctionParameterDecl( name='directory', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long )), ('mj_makeEmptyFileVFS', FunctionDecl( name='mj_makeEmptyFileVFS', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS'), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='filesize', type=ValueType(name='int'), ), ), doc='Make empty file in VFS, return 0: success, 1: full, 2: repeated name.', # pylint: disable=line-too-long )), ('mj_findFileVFS', FunctionDecl( name='mj_findFileVFS', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS', is_const=True), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Return file index in VFS, or -1 if not found in VFS.', )), ('mj_deleteFileVFS', FunctionDecl( name='mj_deleteFileVFS', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS'), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Delete file from VFS, return 0: success, -1: not found in VFS.', )), ('mj_deleteVFS', FunctionDecl( name='mj_deleteVFS', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS'), ), ), ), doc='Delete all files from VFS.', )), ('mj_loadXML', FunctionDecl( name='mj_loadXML', return_type=PointerType( inner_type=ValueType(name='mjModel'), ), parameters=( FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS', is_const=True), ), ), FunctionParameterDecl( name='error', type=PointerType( inner_type=ValueType(name='char'), ), ), FunctionParameterDecl( name='error_sz', type=ValueType(name='int'), ), ), doc='Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long )), ('mj_saveLastXML', FunctionDecl( name='mj_saveLastXML', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='error', type=PointerType( inner_type=ValueType(name='char'), ), ), FunctionParameterDecl( name='error_sz', type=ValueType(name='int'), ), ), doc='Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long )), ('mj_freeLastXML', FunctionDecl( name='mj_freeLastXML', return_type=ValueType(name='void'), parameters=(), doc='Free last XML model if loaded. Called internally at each load.', )), ('mj_printSchema', FunctionDecl( name='mj_printSchema', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='buffer', type=PointerType( inner_type=ValueType(name='char'), ), ), FunctionParameterDecl( name='buffer_sz', type=ValueType(name='int'), ), FunctionParameterDecl( name='flg_html', type=ValueType(name='int'), ), FunctionParameterDecl( name='flg_pad', type=ValueType(name='int'), ), ), doc='Print internal XML schema as plain text or HTML, with style-padding or  .', # pylint: disable=line-too-long )), ('mj_step', FunctionDecl( name='mj_step', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Advance simulation, use control callback to obtain external force and control.', # pylint: disable=line-too-long )), ('mj_step1', FunctionDecl( name='mj_step1', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Advance simulation in two steps: before external force and control is set by user.', # pylint: disable=line-too-long )), ('mj_step2', FunctionDecl( name='mj_step2', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Advance simulation in two steps: after external force and control is set by user.', # pylint: disable=line-too-long )), ('mj_forward', FunctionDecl( name='mj_forward', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Forward dynamics: same as mj_step but do not integrate in time.', )), ('mj_inverse', FunctionDecl( name='mj_inverse', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Inverse dynamics: qacc must be set before calling.', )), ('mj_forwardSkip', FunctionDecl( name='mj_forwardSkip', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='skipstage', type=ValueType(name='int'), ), FunctionParameterDecl( name='skipsensor', type=ValueType(name='int'), ), ), doc='Forward dynamics with skip; skipstage is mjtStage.', )), ('mj_inverseSkip', FunctionDecl( name='mj_inverseSkip', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='skipstage', type=ValueType(name='int'), ), FunctionParameterDecl( name='skipsensor', type=ValueType(name='int'), ), ), doc='Inverse dynamics with skip; skipstage is mjtStage.', )), ('mj_defaultLROpt', FunctionDecl( name='mj_defaultLROpt', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjLROpt'), ), ), ), doc='Set default options for length range computation.', )), ('mj_defaultSolRefImp', FunctionDecl( name='mj_defaultSolRefImp', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='solref', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='solimp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='Set solver parameters to default values.', )), ('mj_defaultOption', FunctionDecl( name='mj_defaultOption', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjOption'), ), ), ), doc='Set physics options to default values.', )), ('mj_defaultVisual', FunctionDecl( name='mj_defaultVisual', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='vis', type=PointerType( inner_type=ValueType(name='mjVisual'), ), ), ), doc='Set visual options to default values.', )), ('mj_copyModel', FunctionDecl( name='mj_copyModel', return_type=PointerType( inner_type=ValueType(name='mjModel'), ), parameters=( FunctionParameterDecl( name='dest', type=PointerType( inner_type=ValueType(name='mjModel'), ), ), FunctionParameterDecl( name='src', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Copy mjModel, allocate new if dest is NULL.', )), ('mj_saveModel', FunctionDecl( name='mj_saveModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='buffer', type=PointerType( inner_type=ValueType(name='void'), ), ), FunctionParameterDecl( name='buffer_sz', type=ValueType(name='int'), ), ), doc='Save model to binary MJB file or memory buffer; buffer has precedence when given.', # pylint: disable=line-too-long )), ('mj_loadModel', FunctionDecl( name='mj_loadModel', return_type=PointerType( inner_type=ValueType(name='mjModel'), ), parameters=( FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='vfs', type=PointerType( inner_type=ValueType(name='mjVFS', is_const=True), ), ), ), doc='Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.', # pylint: disable=line-too-long )), ('mj_deleteModel', FunctionDecl( name='mj_deleteModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel'), ), ), ), doc='Free memory allocation in model.', )), ('mj_sizeModel', FunctionDecl( name='mj_sizeModel', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Return size of buffer needed to hold model.', )), ('mj_makeData', FunctionDecl( name='mj_makeData', return_type=PointerType( inner_type=ValueType(name='mjData'), ), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Allocate mjData correponding to given model. If the model buffer is unallocated the initial configuration will not be set.', # pylint: disable=line-too-long )), ('mj_copyData', FunctionDecl( name='mj_copyData', return_type=PointerType( inner_type=ValueType(name='mjData'), ), parameters=( FunctionParameterDecl( name='dest', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='src', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), ), doc='Copy mjData. m is only required to contain the size fields from MJMODEL_INTS.', # pylint: disable=line-too-long )), ('mj_resetData', FunctionDecl( name='mj_resetData', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Reset data to defaults.', )), ('mj_resetDataDebug', FunctionDecl( name='mj_resetDataDebug', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='debug_value', type=ValueType(name='unsigned char'), ), ), doc='Reset data to defaults, fill everything else with debug_value.', )), ('mj_resetDataKeyframe', FunctionDecl( name='mj_resetDataKeyframe', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='key', type=ValueType(name='int'), ), ), doc='Reset data, set fields from specified keyframe.', )), ('mj_stackAlloc', FunctionDecl( name='mj_stackAlloc', return_type=PointerType( inner_type=ValueType(name='mjtNum'), ), parameters=( FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='size', type=ValueType(name='int'), ), ), doc='Allocate array of specified size on mjData stack. Call mju_error on stack overflow.', # pylint: disable=line-too-long )), ('mj_deleteData', FunctionDecl( name='mj_deleteData', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Free memory allocation in mjData.', )), ('mj_resetCallbacks', FunctionDecl( name='mj_resetCallbacks', return_type=ValueType(name='void'), parameters=(), doc='Reset all callbacks to NULL pointers (NULL is the default).', )), ('mj_setConst', FunctionDecl( name='mj_setConst', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel'), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Set constant fields of mjModel, corresponding to qpos0 configuration.', # pylint: disable=line-too-long )), ('mj_setLengthRange', FunctionDecl( name='mj_setLengthRange', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel'), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='index', type=ValueType(name='int'), ), FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjLROpt', is_const=True), ), ), FunctionParameterDecl( name='error', type=PointerType( inner_type=ValueType(name='char'), ), ), FunctionParameterDecl( name='error_sz', type=ValueType(name='int'), ), ), doc='Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.', # pylint: disable=line-too-long )), ('mj_printFormattedModel', FunctionDecl( name='mj_printFormattedModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='float_format', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Print mjModel to text file, specifying format. float_format must be a valid printf-style format string for a single float value.', # pylint: disable=line-too-long )), ('mj_printModel', FunctionDecl( name='mj_printModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Print model to text file.', )), ('mj_printFormattedData', FunctionDecl( name='mj_printFormattedData', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='float_format', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Print mjData to text file, specifying format. float_format must be a valid printf-style format string for a single float value', # pylint: disable=line-too-long )), ('mj_printData', FunctionDecl( name='mj_printData', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Print data to text file.', )), ('mju_printMat', FunctionDecl( name='mju_printMat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='nc', type=ValueType(name='int'), ), ), doc='Print matrix to screen.', )), ('mju_printMatSparse', FunctionDecl( name='mju_printMatSparse', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='rownnz', type=PointerType( inner_type=ValueType(name='int', is_const=True), ), ), FunctionParameterDecl( name='rowadr', type=PointerType( inner_type=ValueType(name='int', is_const=True), ), ), FunctionParameterDecl( name='colind', type=PointerType( inner_type=ValueType(name='int', is_const=True), ), ), ), doc='Print sparse matrix to screen.', )), ('mj_fwdPosition', FunctionDecl( name='mj_fwdPosition', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run position-dependent computations.', )), ('mj_fwdVelocity', FunctionDecl( name='mj_fwdVelocity', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run velocity-dependent computations.', )), ('mj_fwdActuation', FunctionDecl( name='mj_fwdActuation', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute actuator force qfrc_actuator.', )), ('mj_fwdAcceleration', FunctionDecl( name='mj_fwdAcceleration', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Add up all non-constraint forces, compute qacc_unc.', )), ('mj_fwdConstraint', FunctionDecl( name='mj_fwdConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run selected constraint solver.', )), ('mj_Euler', FunctionDecl( name='mj_Euler', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Euler integrator, semi-implicit in velocity.', )), ('mj_RungeKutta', FunctionDecl( name='mj_RungeKutta', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='N', type=ValueType(name='int'), ), ), doc='Runge-Kutta explicit order-N integrator.', )), ('mj_invPosition', FunctionDecl( name='mj_invPosition', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run position-dependent computations in inverse dynamics.', )), ('mj_invVelocity', FunctionDecl( name='mj_invVelocity', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run velocity-dependent computations in inverse dynamics.', )), ('mj_invConstraint', FunctionDecl( name='mj_invConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Apply the analytical formula for inverse constraint dynamics.', )), ('mj_compareFwdInv', FunctionDecl( name='mj_compareFwdInv', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compare forward and inverse dynamics, save results in fwdinv.', )), ('mj_sensorPos', FunctionDecl( name='mj_sensorPos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Evaluate position-dependent sensors.', )), ('mj_sensorVel', FunctionDecl( name='mj_sensorVel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Evaluate velocity-dependent sensors.', )), ('mj_sensorAcc', FunctionDecl( name='mj_sensorAcc', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Evaluate acceleration and force-dependent sensors.', )), ('mj_energyPos', FunctionDecl( name='mj_energyPos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Evaluate position-dependent energy (potential).', )), ('mj_energyVel', FunctionDecl( name='mj_energyVel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Evaluate velocity-dependent energy (kinetic).', )), ('mj_checkPos', FunctionDecl( name='mj_checkPos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Check qpos, reset if any element is too big or nan.', )), ('mj_checkVel', FunctionDecl( name='mj_checkVel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Check qvel, reset if any element is too big or nan.', )), ('mj_checkAcc', FunctionDecl( name='mj_checkAcc', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Check qacc, reset if any element is too big or nan.', )), ('mj_kinematics', FunctionDecl( name='mj_kinematics', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run forward kinematics.', )), ('mj_comPos', FunctionDecl( name='mj_comPos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Map inertias and motion dofs to global frame centered at CoM.', )), ('mj_camlight', FunctionDecl( name='mj_camlight', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute camera and light positions and orientations.', )), ('mj_tendon', FunctionDecl( name='mj_tendon', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute tendon lengths, velocities and moment arms.', )), ('mj_transmission', FunctionDecl( name='mj_transmission', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute actuator transmission lengths and moments.', )), ('mj_crb', FunctionDecl( name='mj_crb', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run composite rigid body inertia algorithm (CRB).', )), ('mj_factorM', FunctionDecl( name='mj_factorM', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc="Compute sparse L'*D*L factorizaton of inertia matrix.", )), ('mj_solveM', FunctionDecl( name='mj_solveM', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='x', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='y', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc="Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y", # pylint: disable=line-too-long )), ('mj_solveM2', FunctionDecl( name='mj_solveM2', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='x', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='y', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc="Half of linear solve: x = sqrt(inv(D))*inv(L')*y", )), ('mj_comVel', FunctionDecl( name='mj_comVel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute cvel, cdof_dot.', )), ('mj_passive', FunctionDecl( name='mj_passive', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute qfrc_passive from spring-dampers, viscosity and density.', )), ('mj_subtreeVel', FunctionDecl( name='mj_subtreeVel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='subtree linear velocity and angular momentum', )), ('mj_rne', FunctionDecl( name='mj_rne', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='flg_acc', type=ValueType(name='int'), ), FunctionParameterDecl( name='result', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.', # pylint: disable=line-too-long )), ('mj_rnePostConstraint', FunctionDecl( name='mj_rnePostConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='RNE with complete data: compute cacc, cfrc_ext, cfrc_int.', )), ('mj_collision', FunctionDecl( name='mj_collision', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Run collision detection.', )), ('mj_makeConstraint', FunctionDecl( name='mj_makeConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Construct constraints.', )), ('mj_projectConstraint', FunctionDecl( name='mj_projectConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute inverse constaint inertia efc_AR.', )), ('mj_referenceConstraint', FunctionDecl( name='mj_referenceConstraint', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), ), doc='Compute efc_vel, efc_aref.', )), ('mj_constraintUpdate', FunctionDecl( name='mj_constraintUpdate', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='jar', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='cost', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(1,), ), ), FunctionParameterDecl( name='flg_coneHessian', type=ValueType(name='int'), ), ), doc='Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.', # pylint: disable=line-too-long )), ('mj_addContact', FunctionDecl( name='mj_addContact', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjContact', is_const=True), ), ), ), doc='Add contact to d->contact list; return 0 if success; 1 if buffer full.', # pylint: disable=line-too-long )), ('mj_isPyramidal', FunctionDecl( name='mj_isPyramidal', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Determine type of friction cone.', )), ('mj_isSparse', FunctionDecl( name='mj_isSparse', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Determine type of constraint Jacobian.', )), ('mj_isDual', FunctionDecl( name='mj_isDual', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Determine type of solver (PGS is dual, CG and Newton are primal).', # pylint: disable=line-too-long )), ('mj_mulJacVec', FunctionDecl( name='mj_mulJacVec', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Multiply dense or sparse constraint Jacobian by vector.', )), ('mj_mulJacTVec', FunctionDecl( name='mj_mulJacTVec', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Multiply dense or sparse constraint Jacobian transpose by vector.', # pylint: disable=line-too-long )), ('mj_jac', FunctionDecl( name='mj_jac', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacr', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='point', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), ), doc='Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.', # pylint: disable=line-too-long )), ('mj_jacBody', FunctionDecl( name='mj_jacBody', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacr', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), ), doc='Compute body frame end-effector Jacobian.', )), ('mj_jacBodyCom', FunctionDecl( name='mj_jacBodyCom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacr', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), ), doc='Compute body center-of-mass end-effector Jacobian.', )), ('mj_jacSubtreeCom', FunctionDecl( name='mj_jacSubtreeCom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), ), doc='Compute subtree center-of-mass end-effector Jacobian.', )), ('mj_jacGeom', FunctionDecl( name='mj_jacGeom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacr', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='geom', type=ValueType(name='int'), ), ), doc='Compute geom end-effector Jacobian.', )), ('mj_jacSite', FunctionDecl( name='mj_jacSite', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='jacp', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacr', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='site', type=ValueType(name='int'), ), ), doc='Compute site end-effector Jacobian.', )), ('mj_jacPointAxis', FunctionDecl( name='mj_jacPointAxis', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='jacPoint', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='jacAxis', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='point', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='axis', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), ), doc='Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.', # pylint: disable=line-too-long )), ('mj_name2id', FunctionDecl( name='mj_name2id', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='type', type=ValueType(name='int'), ), FunctionParameterDecl( name='name', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Get id of object with specified name, return -1 if not found; type is mjtObj.', # pylint: disable=line-too-long )), ('mj_id2name', FunctionDecl( name='mj_id2name', return_type=PointerType( inner_type=ValueType(name='char', is_const=True), ), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='type', type=ValueType(name='int'), ), FunctionParameterDecl( name='id', type=ValueType(name='int'), ), ), doc='Get name of object with specified id, return 0 if invalid type or id; type is mjtObj.', # pylint: disable=line-too-long )), ('mj_fullM', FunctionDecl( name='mj_fullM', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='dst', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='M', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Convert sparse inertia matrix M into full (i.e. dense) matrix.', )), ('mj_mulM', FunctionDecl( name='mj_mulM', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Multiply vector by inertia matrix.', )), ('mj_mulM2', FunctionDecl( name='mj_mulM2', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Multiply vector by (inertia matrix)^(1/2).', )), ('mj_addM', FunctionDecl( name='mj_addM', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='dst', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='rownnz', type=PointerType( inner_type=ValueType(name='int'), ), ), FunctionParameterDecl( name='rowadr', type=PointerType( inner_type=ValueType(name='int'), ), ), FunctionParameterDecl( name='colind', type=PointerType( inner_type=ValueType(name='int'), ), ), ), doc='Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int* are NULL', # pylint: disable=line-too-long )), ('mj_applyFT', FunctionDecl( name='mj_applyFT', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='force', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='torque', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='point', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), FunctionParameterDecl( name='qfrc_target', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='Apply cartesian force and torque (outside xfrc_applied mechanism).', # pylint: disable=line-too-long )), ('mj_objectVelocity', FunctionDecl( name='mj_objectVelocity', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='objtype', type=ValueType(name='int'), ), FunctionParameterDecl( name='objid', type=ValueType(name='int'), ), FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(6,), ), ), FunctionParameterDecl( name='flg_local', type=ValueType(name='int'), ), ), doc='Compute object 6D velocity in object-centered frame, world/local orientation.', # pylint: disable=line-too-long )), ('mj_objectAcceleration', FunctionDecl( name='mj_objectAcceleration', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='objtype', type=ValueType(name='int'), ), FunctionParameterDecl( name='objid', type=ValueType(name='int'), ), FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(6,), ), ), FunctionParameterDecl( name='flg_local', type=ValueType(name='int'), ), ), doc='Compute object 6D acceleration in object-centered frame, world/local orientation.', # pylint: disable=line-too-long )), ('mj_contactForce', FunctionDecl( name='mj_contactForce', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='id', type=ValueType(name='int'), ), FunctionParameterDecl( name='result', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(6,), ), ), ), doc='Extract 6D force:torque given contact id, in the contact frame.', )), ('mj_differentiatePos', FunctionDecl( name='mj_differentiatePos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='qvel', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='dt', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='qpos1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='qpos2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), ), doc='Compute velocity by finite-differencing two positions.', )), ('mj_integratePos', FunctionDecl( name='mj_integratePos', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='qpos', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='qvel', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='dt', type=ValueType(name='mjtNum'), ), ), doc='Integrate position with given velocity.', )), ('mj_normalizeQuat', FunctionDecl( name='mj_normalizeQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='qpos', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='Normalize all quaternions in qpos-type vector.', )), ('mj_local2Global', FunctionDecl( name='mj_local2Global', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='xpos', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='xmat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(9,), ), ), FunctionParameterDecl( name='pos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='body', type=ValueType(name='int'), ), FunctionParameterDecl( name='sameframe', type=ValueType(name='mjtByte'), ), ), doc='Map from body local to global Cartesian coordinates.', )), ('mj_getTotalmass', FunctionDecl( name='mj_getTotalmass', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), ), doc='Sum all body masses.', )), ('mj_setTotalmass', FunctionDecl( name='mj_setTotalmass', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel'), ), ), FunctionParameterDecl( name='newmass', type=ValueType(name='mjtNum'), ), ), doc='Scale body masses and inertias to achieve specified total mass.', )), ('mj_version', FunctionDecl( name='mj_version', return_type=ValueType(name='int'), parameters=(), doc='Return version number: 1.0.2 is encoded as 102.', )), ('mj_versionString', FunctionDecl( name='mj_versionString', return_type=PointerType( inner_type=ValueType(name='char', is_const=True), ), parameters=(), doc='Return the current version of MuJoCo as a null-terminated string.', # pylint: disable=line-too-long )), ('mj_ray', FunctionDecl( name='mj_ray', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='pnt', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='geomgroup', type=PointerType( inner_type=ValueType(name='mjtByte', is_const=True), ), ), FunctionParameterDecl( name='flg_static', type=ValueType(name='mjtByte'), ), FunctionParameterDecl( name='bodyexclude', type=ValueType(name='int'), ), FunctionParameterDecl( name='geomid', type=ArrayType( inner_type=ValueType(name='int'), extents=(1,), ), ), ), doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection and output geomid. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long )), ('mj_rayHfield', FunctionDecl( name='mj_rayHfield', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='geomid', type=ValueType(name='int'), ), FunctionParameterDecl( name='pnt', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Interect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mj_rayMesh', FunctionDecl( name='mj_rayMesh', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='geomid', type=ValueType(name='int'), ), FunctionParameterDecl( name='pnt', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Interect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mju_rayGeom', FunctionDecl( name='mju_rayGeom', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='pos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), FunctionParameterDecl( name='size', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='pnt', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='geomtype', type=ValueType(name='int'), ), ), doc='Interect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mju_raySkin', FunctionDecl( name='mju_raySkin', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='nface', type=ValueType(name='int'), ), FunctionParameterDecl( name='nvert', type=ValueType(name='int'), ), FunctionParameterDecl( name='face', type=PointerType( inner_type=ValueType(name='int', is_const=True), ), ), FunctionParameterDecl( name='vert', type=PointerType( inner_type=ValueType(name='float', is_const=True), ), ), FunctionParameterDecl( name='pnt', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vertid', type=ArrayType( inner_type=ValueType(name='int'), extents=(1,), ), ), ), doc='Interect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long )), ('mjv_defaultCamera', FunctionDecl( name='mjv_defaultCamera', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='cam', type=PointerType( inner_type=ValueType(name='mjvCamera'), ), ), ), doc='Set default camera.', )), ('mjv_defaultFreeCamera', FunctionDecl( name='mjv_defaultFreeCamera', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='cam', type=PointerType( inner_type=ValueType(name='mjvCamera'), ), ), ), doc='Set default free camera.', )), ('mjv_defaultPerturb', FunctionDecl( name='mjv_defaultPerturb', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb'), ), ), ), doc='Set default perturbation.', )), ('mjv_room2model', FunctionDecl( name='mjv_room2model', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='modelpos', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='modelquat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='roompos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='roomquat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), ), doc='Transform pose from room to model space.', )), ('mjv_model2room', FunctionDecl( name='mjv_model2room', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='roompos', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='roomquat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='modelpos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='modelquat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), ), doc='Transform pose from model to room space.', )), ('mjv_cameraInModel', FunctionDecl( name='mjv_cameraInModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='headpos', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='forward', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='up', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), ), doc='Get camera info in model space; average left and right OpenGL cameras.', # pylint: disable=line-too-long )), ('mjv_cameraInRoom', FunctionDecl( name='mjv_cameraInRoom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='headpos', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='forward', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='up', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), ), doc='Get camera info in room space; average left and right OpenGL cameras.', # pylint: disable=line-too-long )), ('mjv_frustumHeight', FunctionDecl( name='mjv_frustumHeight', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), ), doc='Get frustum height at unit distance from camera; average left and right OpenGL cameras.', # pylint: disable=line-too-long )), ('mjv_alignToCamera', FunctionDecl( name='mjv_alignToCamera', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='forward', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).', # pylint: disable=line-too-long )), ('mjv_moveCamera', FunctionDecl( name='mjv_moveCamera', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='action', type=ValueType(name='int'), ), FunctionParameterDecl( name='reldx', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='reldy', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), FunctionParameterDecl( name='cam', type=PointerType( inner_type=ValueType(name='mjvCamera'), ), ), ), doc='Move camera with mouse; action is mjtMouse.', )), ('mjv_movePerturb', FunctionDecl( name='mjv_movePerturb', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='action', type=ValueType(name='int'), ), FunctionParameterDecl( name='reldx', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='reldy', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb'), ), ), ), doc='Move perturb object with mouse; action is mjtMouse.', )), ('mjv_moveModel', FunctionDecl( name='mjv_moveModel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='action', type=ValueType(name='int'), ), FunctionParameterDecl( name='reldx', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='reldy', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='roomup', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Move model with mouse; action is mjtMouse.', )), ('mjv_initPerturb', FunctionDecl( name='mjv_initPerturb', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb'), ), ), ), doc='Copy perturb pos,quat from selected body; set scale for perturbation.', # pylint: disable=line-too-long )), ('mjv_applyPerturbPose', FunctionDecl( name='mjv_applyPerturbPose', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb', is_const=True), ), ), FunctionParameterDecl( name='flg_paused', type=ValueType(name='int'), ), ), doc='Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. Write d->qpos only if flg_paused and subtree root for selected body has free joint.', # pylint: disable=line-too-long )), ('mjv_applyPerturbForce', FunctionDecl( name='mjv_applyPerturbForce', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb', is_const=True), ), ), ), doc='Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.', # pylint: disable=line-too-long )), ('mjv_averageCamera', FunctionDecl( name='mjv_averageCamera', return_type=ValueType(name='mjvGLCamera'), parameters=( FunctionParameterDecl( name='cam1', type=PointerType( inner_type=ValueType(name='mjvGLCamera', is_const=True), ), ), FunctionParameterDecl( name='cam2', type=PointerType( inner_type=ValueType(name='mjvGLCamera', is_const=True), ), ), ), doc='Return the average of two OpenGL cameras.', )), ('mjv_select', FunctionDecl( name='mjv_select', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData', is_const=True), ), ), FunctionParameterDecl( name='vopt', type=PointerType( inner_type=ValueType(name='mjvOption', is_const=True), ), ), FunctionParameterDecl( name='aspectratio', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='relx', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='rely', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene', is_const=True), ), ), FunctionParameterDecl( name='selpnt', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='geomid', type=ArrayType( inner_type=ValueType(name='int'), extents=(1,), ), ), FunctionParameterDecl( name='skinid', type=ArrayType( inner_type=ValueType(name='int'), extents=(1,), ), ), ), doc='Select geom or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long )), ('mjv_defaultOption', FunctionDecl( name='mjv_defaultOption', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjvOption'), ), ), ), doc='Set default visualization options.', )), ('mjv_defaultFigure', FunctionDecl( name='mjv_defaultFigure', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='fig', type=PointerType( inner_type=ValueType(name='mjvFigure'), ), ), ), doc='Set default figure.', )), ('mjv_initGeom', FunctionDecl( name='mjv_initGeom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='geom', type=PointerType( inner_type=ValueType(name='mjvGeom'), ), ), FunctionParameterDecl( name='type', type=ValueType(name='int'), ), FunctionParameterDecl( name='size', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='pos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), FunctionParameterDecl( name='rgba', type=ArrayType( inner_type=ValueType(name='float', is_const=True), extents=(4,), ), ), ), doc='Initialize given geom fields when not NULL, set the rest to their default values.', # pylint: disable=line-too-long )), ('mjv_makeConnector', FunctionDecl( name='mjv_makeConnector', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='geom', type=PointerType( inner_type=ValueType(name='mjvGeom'), ), ), FunctionParameterDecl( name='type', type=ValueType(name='int'), ), FunctionParameterDecl( name='width', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='a0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='a1', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='a2', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='b0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='b1', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='b2', type=ValueType(name='mjtNum'), ), ), doc='Set (type, size, pos, mat) for connector-type geom between given points. Assume that mjv_initGeom was already called to set all other properties.', # pylint: disable=line-too-long )), ('mjv_defaultScene', FunctionDecl( name='mjv_defaultScene', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Set default abstract scene.', )), ('mjv_makeScene', FunctionDecl( name='mjv_makeScene', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), FunctionParameterDecl( name='maxgeom', type=ValueType(name='int'), ), ), doc='Allocate resources in abstract scene.', )), ('mjv_freeScene', FunctionDecl( name='mjv_freeScene', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Free abstract scene.', )), ('mjv_updateScene', FunctionDecl( name='mjv_updateScene', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjvOption', is_const=True), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb', is_const=True), ), ), FunctionParameterDecl( name='cam', type=PointerType( inner_type=ValueType(name='mjvCamera'), ), ), FunctionParameterDecl( name='catmask', type=ValueType(name='int'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Update entire scene given model state.', )), ('mjv_addGeoms', FunctionDecl( name='mjv_addGeoms', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='opt', type=PointerType( inner_type=ValueType(name='mjvOption', is_const=True), ), ), FunctionParameterDecl( name='pert', type=PointerType( inner_type=ValueType(name='mjvPerturb', is_const=True), ), ), FunctionParameterDecl( name='catmask', type=ValueType(name='int'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Add geoms from selected categories.', )), ('mjv_makeLights', FunctionDecl( name='mjv_makeLights', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Make list of lights.', )), ('mjv_updateCamera', FunctionDecl( name='mjv_updateCamera', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='cam', type=PointerType( inner_type=ValueType(name='mjvCamera'), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Update camera.', )), ('mjv_updateSkin', FunctionDecl( name='mjv_updateSkin', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), ), doc='Update skins.', )), ('mjr_defaultContext', FunctionDecl( name='mjr_defaultContext', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), ), doc='Set default mjrContext.', )), ('mjr_makeContext', FunctionDecl( name='mjr_makeContext', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), FunctionParameterDecl( name='fontscale', type=ValueType(name='int'), ), ), doc='Allocate resources in custom OpenGL context; fontscale is mjtFontScale.', # pylint: disable=line-too-long )), ('mjr_changeFont', FunctionDecl( name='mjr_changeFont', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='fontscale', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), ), doc='Change font of existing context.', )), ('mjr_addAux', FunctionDecl( name='mjr_addAux', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='index', type=ValueType(name='int'), ), FunctionParameterDecl( name='width', type=ValueType(name='int'), ), FunctionParameterDecl( name='height', type=ValueType(name='int'), ), FunctionParameterDecl( name='samples', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), ), doc='Add Aux buffer with given index to context; free previous Aux buffer.', # pylint: disable=line-too-long )), ('mjr_freeContext', FunctionDecl( name='mjr_freeContext', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), ), doc='Free resources in custom OpenGL context, set to default.', )), ('mjr_uploadTexture', FunctionDecl( name='mjr_uploadTexture', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), FunctionParameterDecl( name='texid', type=ValueType(name='int'), ), ), doc='Upload texture to GPU, overwriting previous upload if any.', )), ('mjr_uploadMesh', FunctionDecl( name='mjr_uploadMesh', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), FunctionParameterDecl( name='meshid', type=ValueType(name='int'), ), ), doc='Upload mesh to GPU, overwriting previous upload if any.', )), ('mjr_uploadHField', FunctionDecl( name='mjr_uploadHField', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), FunctionParameterDecl( name='hfieldid', type=ValueType(name='int'), ), ), doc='Upload height field to GPU, overwriting previous upload if any.', )), ('mjr_restoreBuffer', FunctionDecl( name='mjr_restoreBuffer', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Make con->currentBuffer current again.', )), ('mjr_setBuffer', FunctionDecl( name='mjr_setBuffer', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='framebuffer', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext'), ), ), ), doc='Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.', # pylint: disable=line-too-long )), ('mjr_readPixels', FunctionDecl( name='mjr_readPixels', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='rgb', type=PointerType( inner_type=ValueType(name='unsigned char'), ), ), FunctionParameterDecl( name='depth', type=PointerType( inner_type=ValueType(name='float'), ), ), FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long )), ('mjr_drawPixels', FunctionDecl( name='mjr_drawPixels', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='rgb', type=PointerType( inner_type=ValueType(name='unsigned char', is_const=True), ), ), FunctionParameterDecl( name='depth', type=PointerType( inner_type=ValueType(name='float', is_const=True), ), ), FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long )), ('mjr_blitBuffer', FunctionDecl( name='mjr_blitBuffer', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='src', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='dst', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='flg_color', type=ValueType(name='int'), ), FunctionParameterDecl( name='flg_depth', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.', # pylint: disable=line-too-long )), ('mjr_setAux', FunctionDecl( name='mjr_setAux', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='index', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).', # pylint: disable=line-too-long )), ('mjr_blitAux', FunctionDecl( name='mjr_blitAux', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='index', type=ValueType(name='int'), ), FunctionParameterDecl( name='src', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='left', type=ValueType(name='int'), ), FunctionParameterDecl( name='bottom', type=ValueType(name='int'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Blit from Aux buffer to con->currentBuffer.', )), ('mjr_text', FunctionDecl( name='mjr_text', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='font', type=ValueType(name='int'), ), FunctionParameterDecl( name='txt', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), FunctionParameterDecl( name='x', type=ValueType(name='float'), ), FunctionParameterDecl( name='y', type=ValueType(name='float'), ), FunctionParameterDecl( name='r', type=ValueType(name='float'), ), FunctionParameterDecl( name='g', type=ValueType(name='float'), ), FunctionParameterDecl( name='b', type=ValueType(name='float'), ), ), doc='Draw text at (x,y) in relative coordinates; font is mjtFont.', )), ('mjr_overlay', FunctionDecl( name='mjr_overlay', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='font', type=ValueType(name='int'), ), FunctionParameterDecl( name='gridpos', type=ValueType(name='int'), ), FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='overlay', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='overlay2', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Draw text overlay; font is mjtFont; gridpos is mjtGridPos.', )), ('mjr_maxViewport', FunctionDecl( name='mjr_maxViewport', return_type=ValueType(name='mjrRect'), parameters=( FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Get maximum viewport for active buffer.', )), ('mjr_rectangle', FunctionDecl( name='mjr_rectangle', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='r', type=ValueType(name='float'), ), FunctionParameterDecl( name='g', type=ValueType(name='float'), ), FunctionParameterDecl( name='b', type=ValueType(name='float'), ), FunctionParameterDecl( name='a', type=ValueType(name='float'), ), ), doc='Draw rectangle.', )), ('mjr_label', FunctionDecl( name='mjr_label', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='font', type=ValueType(name='int'), ), FunctionParameterDecl( name='txt', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='r', type=ValueType(name='float'), ), FunctionParameterDecl( name='g', type=ValueType(name='float'), ), FunctionParameterDecl( name='b', type=ValueType(name='float'), ), FunctionParameterDecl( name='a', type=ValueType(name='float'), ), FunctionParameterDecl( name='rt', type=ValueType(name='float'), ), FunctionParameterDecl( name='gt', type=ValueType(name='float'), ), FunctionParameterDecl( name='bt', type=ValueType(name='float'), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Draw rectangle with centered text.', )), ('mjr_figure', FunctionDecl( name='mjr_figure', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='fig', type=PointerType( inner_type=ValueType(name='mjvFigure'), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Draw 2D figure.', )), ('mjr_render', FunctionDecl( name='mjr_render', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='viewport', type=ValueType(name='mjrRect'), ), FunctionParameterDecl( name='scn', type=PointerType( inner_type=ValueType(name='mjvScene'), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Render 3D scene.', )), ('mjr_finish', FunctionDecl( name='mjr_finish', return_type=ValueType(name='void'), parameters=(), doc='Call glFinish.', )), ('mjr_getError', FunctionDecl( name='mjr_getError', return_type=ValueType(name='int'), parameters=(), doc='Call glGetError and return result.', )), ('mjr_findRect', FunctionDecl( name='mjr_findRect', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='int'), ), FunctionParameterDecl( name='y', type=ValueType(name='int'), ), FunctionParameterDecl( name='nrect', type=ValueType(name='int'), ), FunctionParameterDecl( name='rect', type=PointerType( inner_type=ValueType(name='mjrRect', is_const=True), ), ), ), doc='Find first rectangle containing mouse, -1: not found.', )), ('mjui_themeSpacing', FunctionDecl( name='mjui_themeSpacing', return_type=ValueType(name='mjuiThemeSpacing'), parameters=( FunctionParameterDecl( name='ind', type=ValueType(name='int'), ), ), doc='Get builtin UI theme spacing (ind: 0-1).', )), ('mjui_themeColor', FunctionDecl( name='mjui_themeColor', return_type=ValueType(name='mjuiThemeColor'), parameters=( FunctionParameterDecl( name='ind', type=ValueType(name='int'), ), ), doc='Get builtin UI theme color (ind: 0-3).', )), ('mjui_add', FunctionDecl( name='mjui_add', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI'), ), ), FunctionParameterDecl( name='def', type=PointerType( inner_type=ValueType(name='mjuiDef', is_const=True), ), ), ), doc='Add definitions to UI.', )), ('mjui_addToSection', FunctionDecl( name='mjui_addToSection', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI'), ), ), FunctionParameterDecl( name='sect', type=ValueType(name='int'), ), FunctionParameterDecl( name='def', type=PointerType( inner_type=ValueType(name='mjuiDef', is_const=True), ), ), ), doc='Add definitions to UI section.', )), ('mjui_resize', FunctionDecl( name='mjui_resize', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI'), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Compute UI sizes.', )), ('mjui_update', FunctionDecl( name='mjui_update', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='section', type=ValueType(name='int'), ), FunctionParameterDecl( name='item', type=ValueType(name='int'), ), FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI', is_const=True), ), ), FunctionParameterDecl( name='state', type=PointerType( inner_type=ValueType(name='mjuiState', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Update specific section/item; -1: update all.', )), ('mjui_event', FunctionDecl( name='mjui_event', return_type=PointerType( inner_type=ValueType(name='mjuiItem'), ), parameters=( FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI'), ), ), FunctionParameterDecl( name='state', type=PointerType( inner_type=ValueType(name='mjuiState'), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Handle UI event, return pointer to changed item, NULL if no change.', # pylint: disable=line-too-long )), ('mjui_render', FunctionDecl( name='mjui_render', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='ui', type=PointerType( inner_type=ValueType(name='mjUI'), ), ), FunctionParameterDecl( name='state', type=PointerType( inner_type=ValueType(name='mjuiState', is_const=True), ), ), FunctionParameterDecl( name='con', type=PointerType( inner_type=ValueType(name='mjrContext', is_const=True), ), ), ), doc='Copy UI image to current buffer.', )), ('mju_error', FunctionDecl( name='mju_error', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Main error function; does not return to caller.', )), ('mju_error_i', FunctionDecl( name='mju_error_i', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='i', type=ValueType(name='int'), ), ), doc='Error function with int argument; msg is a printf format string.', )), ('mju_error_s', FunctionDecl( name='mju_error_s', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='text', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Error function with string argument.', )), ('mju_warning', FunctionDecl( name='mju_warning', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Main warning function; returns to caller.', )), ('mju_warning_i', FunctionDecl( name='mju_warning_i', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='i', type=ValueType(name='int'), ), ), doc='Warning function with int argument.', )), ('mju_warning_s', FunctionDecl( name='mju_warning_s', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='text', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Warning function with string argument.', )), ('mju_clearHandlers', FunctionDecl( name='mju_clearHandlers', return_type=ValueType(name='void'), parameters=(), doc='Clear user error and memory handlers.', )), ('mju_malloc', FunctionDecl( name='mju_malloc', return_type=PointerType( inner_type=ValueType(name='void'), ), parameters=( FunctionParameterDecl( name='size', type=ValueType(name='size_t'), ), ), doc='Allocate memory; byte-align on 64; pad size to multiple of 64.', )), ('mju_free', FunctionDecl( name='mju_free', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='ptr', type=PointerType( inner_type=ValueType(name='void'), ), ), ), doc='Free memory, using free() by default.', )), ('mj_warning', FunctionDecl( name='mj_warning', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='warning', type=ValueType(name='int'), ), FunctionParameterDecl( name='info', type=ValueType(name='int'), ), ), doc='High-level warning function: count warnings in mjData, print only the first.', # pylint: disable=line-too-long )), ('mju_writeLog', FunctionDecl( name='mju_writeLog', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='type', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='msg', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Write [datetime, type: message] to MUJOCO_LOG.TXT.', )), ('mj_activate', FunctionDecl( name='mj_activate', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='filename', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Return 1 (for backward compatibility).', )), ('mj_deactivate', FunctionDecl( name='mj_deactivate', return_type=ValueType(name='void'), parameters=(), doc='Do nothing (for backward compatibility).', )), ('mju_zero3', FunctionDecl( name='mju_zero3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), ), doc='Set res = 0.', )), ('mju_copy3', FunctionDecl( name='mju_copy3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='data', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Set res = vec.', )), ('mju_scl3', FunctionDecl( name='mju_scl3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), ), doc='Set res = vec*scl.', )), ('mju_add3', FunctionDecl( name='mju_add3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Set res = vec1 + vec2.', )), ('mju_sub3', FunctionDecl( name='mju_sub3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Set res = vec1 - vec2.', )), ('mju_addTo3', FunctionDecl( name='mju_addTo3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Set res = res + vec.', )), ('mju_subFrom3', FunctionDecl( name='mju_subFrom3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Set res = res - vec.', )), ('mju_addToScl3', FunctionDecl( name='mju_addToScl3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), ), doc='Set res = res + vec*scl.', )), ('mju_addScl3', FunctionDecl( name='mju_addScl3', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), ), doc='Set res = vec1 + vec2*scl.', )), ('mju_normalize3', FunctionDecl( name='mju_normalize3', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), ), doc='Normalize vector, return length before normalization.', )), ('mju_norm3', FunctionDecl( name='mju_norm3', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Return vector length (without normalizing the vector).', )), ('mju_dot3', FunctionDecl( name='mju_dot3', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='vec1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='vec2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Return dot-product of vec1 and vec2.', )), ('mju_dist3', FunctionDecl( name='mju_dist3', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='pos1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='pos2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Return Cartesian distance between 3D vectors pos1 and pos2.', )), ('mju_rotVecMat', FunctionDecl( name='mju_rotVecMat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Multiply vector by 3D rotation matrix: res = mat * vec.', )), ('mju_rotVecMatT', FunctionDecl( name='mju_rotVecMatT', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc="Multiply vector by transposed 3D rotation matrix: res = mat' * vec.", # pylint: disable=line-too-long )), ('mju_cross', FunctionDecl( name='mju_cross', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='a', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='b', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Compute cross-product: res = cross(a, b).', )), ('mju_zero4', FunctionDecl( name='mju_zero4', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), ), doc='Set res = 0.', )), ('mju_unit4', FunctionDecl( name='mju_unit4', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), ), doc='Set res = (1,0,0,0).', )), ('mju_copy4', FunctionDecl( name='mju_copy4', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='data', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Set res = vec.', )), ('mju_normalize4', FunctionDecl( name='mju_normalize4', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), ), doc='Normalize vector, return length before normalization.', )), ('mju_zero', FunctionDecl( name='mju_zero', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = 0.', )), ('mju_copy', FunctionDecl( name='mju_copy', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='data', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = vec.', )), ('mju_sum', FunctionDecl( name='mju_sum', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Return sum(vec).', )), ('mju_L1', FunctionDecl( name='mju_L1', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Return L1 norm: sum(abs(vec)).', )), ('mju_scl', FunctionDecl( name='mju_scl', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = vec*scl.', )), ('mju_add', FunctionDecl( name='mju_add', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = vec1 + vec2.', )), ('mju_sub', FunctionDecl( name='mju_sub', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = vec1 - vec2.', )), ('mju_addTo', FunctionDecl( name='mju_addTo', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = res + vec.', )), ('mju_subFrom', FunctionDecl( name='mju_subFrom', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = res - vec.', )), ('mju_addToScl', FunctionDecl( name='mju_addToScl', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = res + vec*scl.', )), ('mju_addScl', FunctionDecl( name='mju_addScl', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='scl', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Set res = vec1 + vec2*scl.', )), ('mju_normalize', FunctionDecl( name='mju_normalize', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Normalize vector, return length before normalization.', )), ('mju_norm', FunctionDecl( name='mju_norm', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Return vector length (without normalizing vector).', )), ('mju_dot', FunctionDecl( name='mju_dot', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='vec1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int', is_const=True), ), ), doc='Return dot-product of vec1 and vec2.', )), ('mju_mulMatVec', FunctionDecl( name='mju_mulMatVec', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='nc', type=ValueType(name='int'), ), ), doc='Multiply matrix and vector: res = mat * vec.', )), ('mju_mulMatTVec', FunctionDecl( name='mju_mulMatTVec', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='nc', type=ValueType(name='int'), ), ), doc="Multiply transposed matrix and vector: res = mat' * vec.", )), ('mju_transpose', FunctionDecl( name='mju_transpose', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='nc', type=ValueType(name='int'), ), ), doc="Transpose matrix: res = mat'.", )), ('mju_mulMatMat', FunctionDecl( name='mju_mulMatMat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='mat2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='r1', type=ValueType(name='int'), ), FunctionParameterDecl( name='c1', type=ValueType(name='int'), ), FunctionParameterDecl( name='c2', type=ValueType(name='int'), ), ), doc='Multiply matrices: res = mat1 * mat2.', )), ('mju_mulMatMatT', FunctionDecl( name='mju_mulMatMatT', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='mat2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='r1', type=ValueType(name='int'), ), FunctionParameterDecl( name='c1', type=ValueType(name='int'), ), FunctionParameterDecl( name='r2', type=ValueType(name='int'), ), ), doc="Multiply matrices, second argument transposed: res = mat1 * mat2'.", # pylint: disable=line-too-long )), ('mju_mulMatTMat', FunctionDecl( name='mju_mulMatTMat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat1', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='mat2', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='r1', type=ValueType(name='int'), ), FunctionParameterDecl( name='c1', type=ValueType(name='int'), ), FunctionParameterDecl( name='c2', type=ValueType(name='int'), ), ), doc="Multiply matrices, first argument transposed: res = mat1' * mat2.", # pylint: disable=line-too-long )), ('mju_sqrMatTD', FunctionDecl( name='mju_sqrMatTD', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='diag', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='nr', type=ValueType(name='int'), ), FunctionParameterDecl( name='nc', type=ValueType(name='int'), ), ), doc="Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.", # pylint: disable=line-too-long )), ('mju_transformSpatial', FunctionDecl( name='mju_transformSpatial', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(6,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(6,), ), ), FunctionParameterDecl( name='flg_force', type=ValueType(name='int'), ), FunctionParameterDecl( name='newpos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='oldpos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='rotnew2old', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.', # pylint: disable=line-too-long )), ('mju_rotVecQuat', FunctionDecl( name='mju_rotVecQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Rotate vector by quaternion.', )), ('mju_negQuat', FunctionDecl( name='mju_negQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Conjugate quaternion, corresponding to opposite rotation.', )), ('mju_mulQuat', FunctionDecl( name='mju_mulQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='quat1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='quat2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Multiply quaternions.', )), ('mju_mulQuatAxis', FunctionDecl( name='mju_mulQuatAxis', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='axis', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Multiply quaternion and axis.', )), ('mju_axisAngle2Quat', FunctionDecl( name='mju_axisAngle2Quat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='axis', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='angle', type=ValueType(name='mjtNum'), ), ), doc='Convert axisAngle to quaternion.', )), ('mju_quat2Vel', FunctionDecl( name='mju_quat2Vel', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='dt', type=ValueType(name='mjtNum'), ), ), doc='Convert quaternion (corresponding to orientation difference) to 3D velocity.', # pylint: disable=line-too-long )), ('mju_subQuat', FunctionDecl( name='mju_subQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='qa', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='qb', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.', )), ('mju_quat2Mat', FunctionDecl( name='mju_quat2Mat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(9,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Convert quaternion to 3D rotation matrix.', )), ('mju_mat2Quat', FunctionDecl( name='mju_mat2Quat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Convert 3D rotation matrix to quaternion.', )), ('mju_derivQuat', FunctionDecl( name='mju_derivQuat', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='vel', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Compute time-derivative of quaternion, given 3D rotational velocity.', # pylint: disable=line-too-long )), ('mju_quatIntegrate', FunctionDecl( name='mju_quatIntegrate', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='vel', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='scale', type=ValueType(name='mjtNum'), ), ), doc='Integrate quaternion given 3D angular velocity.', )), ('mju_quatZ2Vec', FunctionDecl( name='mju_quatZ2Vec', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Construct quaternion performing rotation from z-axis to given vector.', # pylint: disable=line-too-long )), ('mju_mulPose', FunctionDecl( name='mju_mulPose', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='posres', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='quatres', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='pos1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat1', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='pos2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat2', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Multiply two poses.', )), ('mju_negPose', FunctionDecl( name='mju_negPose', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='posres', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='quatres', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='pos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), ), doc='Conjugate pose, corresponding to the opposite spatial transformation.', # pylint: disable=line-too-long )), ('mju_trnVecPose', FunctionDecl( name='mju_trnVecPose', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='pos', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(4,), ), ), FunctionParameterDecl( name='vec', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(3,), ), ), ), doc='Transform vector by pose.', )), ('mju_cholFactor', FunctionDecl( name='mju_cholFactor', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), FunctionParameterDecl( name='mindiag', type=ValueType(name='mjtNum'), ), ), doc="Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.", # pylint: disable=line-too-long )), ('mju_cholSolve', FunctionDecl( name='mju_cholSolve', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Solve mat * res = vec, where mat is Cholesky-factorized', )), ('mju_cholUpdate', FunctionDecl( name='mju_cholUpdate', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='mat', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='x', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), FunctionParameterDecl( name='flg_plus', type=ValueType(name='int'), ), ), doc="Cholesky rank-one update: L*L' +/- x*x'; return rank.", )), ('mju_eig3', FunctionDecl( name='mju_eig3', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='eigval', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(3,), ), ), FunctionParameterDecl( name='eigvec', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(9,), ), ), FunctionParameterDecl( name='quat', type=ArrayType( inner_type=ValueType(name='mjtNum'), extents=(4,), ), ), FunctionParameterDecl( name='mat', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Eigenvalue decomposition of symmetric 3x3 matrix.', )), ('mju_muscleGain', FunctionDecl( name='mju_muscleGain', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='len', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='vel', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='lengthrange', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(2,), ), ), FunctionParameterDecl( name='acc0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='prm', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long )), ('mju_muscleBias', FunctionDecl( name='mju_muscleBias', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='len', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='lengthrange', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(2,), ), ), FunctionParameterDecl( name='acc0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='prm', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(9,), ), ), ), doc='Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long )), ('mju_muscleDynamics', FunctionDecl( name='mju_muscleDynamics', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='ctrl', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='act', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='prm', type=ArrayType( inner_type=ValueType(name='mjtNum', is_const=True), extents=(2,), ), ), ), doc='Muscle activation dynamics, prm = (tau_act, tau_deact).', )), ('mju_encodePyramid', FunctionDecl( name='mju_encodePyramid', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='pyramid', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='force', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='mu', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='dim', type=ValueType(name='int'), ), ), doc='Convert contact force to pyramid representation.', )), ('mju_decodePyramid', FunctionDecl( name='mju_decodePyramid', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='force', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='pyramid', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='mu', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='dim', type=ValueType(name='int'), ), ), doc='Convert pyramid representation to contact force.', )), ('mju_springDamper', FunctionDecl( name='mju_springDamper', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='pos0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='vel0', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='Kp', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='Kv', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='dt', type=ValueType(name='mjtNum'), ), ), doc='Integrate spring-damper analytically, return pos(dt).', )), ('mju_min', FunctionDecl( name='mju_min', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='a', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='b', type=ValueType(name='mjtNum'), ), ), doc='Return min(a,b) with single evaluation of a and b.', )), ('mju_max', FunctionDecl( name='mju_max', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='a', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='b', type=ValueType(name='mjtNum'), ), ), doc='Return max(a,b) with single evaluation of a and b.', )), ('mju_clip', FunctionDecl( name='mju_clip', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='min', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='max', type=ValueType(name='mjtNum'), ), ), doc='Clip x to the range [min, max].', )), ('mju_sign', FunctionDecl( name='mju_sign', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='mjtNum'), ), ), doc='Return sign of x: +1, -1 or 0.', )), ('mju_round', FunctionDecl( name='mju_round', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='mjtNum'), ), ), doc='Round x to nearest integer.', )), ('mju_type2Str', FunctionDecl( name='mju_type2Str', return_type=PointerType( inner_type=ValueType(name='char', is_const=True), ), parameters=( FunctionParameterDecl( name='type', type=ValueType(name='int'), ), ), doc='Convert type id (mjtObj) to type name.', )), ('mju_str2Type', FunctionDecl( name='mju_str2Type', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='str', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), ), doc='Convert type name to type id (mjtObj).', )), ('mju_warningText', FunctionDecl( name='mju_warningText', return_type=PointerType( inner_type=ValueType(name='char', is_const=True), ), parameters=( FunctionParameterDecl( name='warning', type=ValueType(name='int'), ), FunctionParameterDecl( name='info', type=ValueType(name='int'), ), ), doc='Construct a warning message given the warning type and info.', )), ('mju_isBad', FunctionDecl( name='mju_isBad', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='mjtNum'), ), ), doc='Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.', # pylint: disable=line-too-long )), ('mju_isZero', FunctionDecl( name='mju_isZero', return_type=ValueType(name='int'), parameters=( FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Return 1 if all elements are 0.', )), ('mju_standardNormal', FunctionDecl( name='mju_standardNormal', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='num2', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='Standard normal random number generator (optional second number).', # pylint: disable=line-too-long )), ('mju_f2n', FunctionDecl( name='mju_f2n', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='float', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Convert from float to mjtNum.', )), ('mju_n2f', FunctionDecl( name='mju_n2f', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='float'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Convert from mjtNum to float.', )), ('mju_d2n', FunctionDecl( name='mju_d2n', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='double', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Convert from double to mjtNum.', )), ('mju_n2d', FunctionDecl( name='mju_n2d', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='res', type=PointerType( inner_type=ValueType(name='double'), ), ), FunctionParameterDecl( name='vec', type=PointerType( inner_type=ValueType(name='mjtNum', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Convert from mjtNum to double.', )), ('mju_insertionSort', FunctionDecl( name='mju_insertionSort', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='list', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Insertion sort, resulting list is in increasing order.', )), ('mju_insertionSortInt', FunctionDecl( name='mju_insertionSortInt', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='list', type=PointerType( inner_type=ValueType(name='int'), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Integer insertion sort, resulting list is in increasing order.', )), ('mju_Halton', FunctionDecl( name='mju_Halton', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='index', type=ValueType(name='int'), ), FunctionParameterDecl( name='base', type=ValueType(name='int'), ), ), doc='Generate Halton sequence.', )), ('mju_strncpy', FunctionDecl( name='mju_strncpy', return_type=PointerType( inner_type=ValueType(name='char'), ), parameters=( FunctionParameterDecl( name='dst', type=PointerType( inner_type=ValueType(name='char'), ), ), FunctionParameterDecl( name='src', type=PointerType( inner_type=ValueType(name='char', is_const=True), ), ), FunctionParameterDecl( name='n', type=ValueType(name='int'), ), ), doc='Call strncpy, then set dst[n-1] = 0.', )), ('mju_sigmoid', FunctionDecl( name='mju_sigmoid', return_type=ValueType(name='mjtNum'), parameters=( FunctionParameterDecl( name='x', type=ValueType(name='mjtNum'), ), ), doc='Sigmoid function over 0<=x<=1 constructed from half-quadratics.', )), ('mjd_transitionFD', FunctionDecl( name='mjd_transitionFD', return_type=ValueType(name='void'), parameters=( FunctionParameterDecl( name='m', type=PointerType( inner_type=ValueType(name='mjModel', is_const=True), ), ), FunctionParameterDecl( name='d', type=PointerType( inner_type=ValueType(name='mjData'), ), ), FunctionParameterDecl( name='eps', type=ValueType(name='mjtNum'), ), FunctionParameterDecl( name='centered', type=ValueType(name='mjtByte'), ), FunctionParameterDecl( name='A', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='B', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='C', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), FunctionParameterDecl( name='D', type=PointerType( inner_type=ValueType(name='mjtNum'), ), ), ), doc='Finite differenced transition matrices (control theory notation) d(x_next) = A*dx + B*du d(sensor) = C*dx + D*du required output matrix dimensions: A: (2*nv+na x 2*nv+na) B: (2*nv+na x nu) D: (nsensordata x 2*nv+na) C: (nsensordata x nu)', # pylint: disable=line-too-long )), ])