| // Copyright 2021 DeepMind Technologies Limited | |
| // | |
| // Licensed under the Apache License, Version 2.0 (the "License"); | |
| // you may not use this file except in compliance with the License. | |
| // You may obtain a copy of the License at | |
| // | |
| // http://www.apache.org/licenses/LICENSE-2.0 | |
| // | |
| // Unless required by applicable law or agreed to in writing, software | |
| // distributed under the License is distributed on an "AS IS" BASIS, | |
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| // See the License for the specific language governing permissions and | |
| // limitations under the License. | |
| extern "C" { | |
| //-------------------------------- sensors --------------------------------------------------------- | |
| // position-dependent sensors | |
| MJAPI void mj_sensorPos(const mjModel* m, mjData* d); | |
| // velocity-dependent sensors | |
| MJAPI void mj_sensorVel(const mjModel* m, mjData* d); | |
| // acceleration/force-dependent sensors | |
| MJAPI void mj_sensorAcc(const mjModel* m, mjData* d); | |
| //-------------------------------- energy ---------------------------------------------------------- | |
| // position-dependent energy (potential) | |
| MJAPI void mj_energyPos(const mjModel* m, mjData* d); | |
| // velocity-dependent energy (kinetic) | |
| MJAPI void mj_energyVel(const mjModel* m, mjData* d); | |
| } | |