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// Copyright 2019 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.
using System;
using System.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
public class MjBodyQuaternionSensor : MjBaseSensor {
public MjBody Body;
[Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
public bool UseInertialFrame;
public Quaternion SensorReading { get; private set; }
protected override XmlElement ToMjcf(XmlDocument doc) {
if (Body == null) {
throw new NullReferenceException("Missing a reference to a MjBody.");
}
var mjcf = doc.CreateElement("framequat");
mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
mjcf.SetAttribute("objname", Body.MujocoName);
return mjcf;
}
protected override void FromMjcf(XmlElement mjcf) {
UseInertialFrame = mjcf.HasAttribute("body");
Body = mjcf.GetObjectReferenceAttribute<MjBody>("objname");
if (Body == null) {
throw new NullReferenceException("Missing a reference to a MjBody.");
}
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
}
}
}
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