Functions

namespace MuJoCo

General helper functions for the MuJoCo classes

Functions

bool get_activation_key_path(std::string &path)

Search a few known places for an activation key

Return

True if key found, false otherwise

Parameters

• [out] path: Path to the key, only if found

Eigen::VectorXd mujoco_to_eigen(const mjtNum *num, int size)

Turn MuJoCo vector into Eigen vector

Parameters

• num: mjtNum Array

• size: Size of the array

void eigen_copy(mjtNum *res, const Eigen::VectorXd &vec, int n = 0)

Copy Eigen vector to MuJoCo vector

Parameters

• res: Pointer to resulting array

• vec: Eigen vector

• n: Size of vector (optional, only for assert)

Eigen::VectorXd psuedo_inverse_mult(Eigen::MatrixXd A, Eigen::VectorXd b)

Perform multiplication with pseudo-inverse of matrix

Moore-Penrose inverse is used.

Parameters

• A: Matrix to be inverted

• b: Vector to be multiplied with

Eigen::Vector4d euler_to_quaternion(double x, double y, double z)

Convert Z, Y’, X’’ Euler angles to quaternion

Parameters

• x: X’’ angle

• y: Y’ angle

• z: Z angle

Eigen::Vector4d euler_to_quaternion(const Eigen::Vector3d &euler)

Convert Z, Y’, X’’ Euler angles to quaternion

Parameters

• euler: (X, Y, Z) Euler angles

Eigen::Vector3d quaternion_to_euler(const Eigen::Vector4d &quat)

Convert quaternion to Z, Y’, X’’ Euler anlges