Module: MJQPosStateData

class MJQPosStateData : public StateData

#include <MJQPosStateData.h>

Class representing the entire joint state data in a MuJoCo simulation.

This class manages the position states (qpos) and their derivatives in a MuJoCo simulation. It extends StateData to include specific configurations and propagation logic for position states.

Public Functions

inline MJQPosStateData(std::string inName, const Eigen::MatrixXd &newState)

Constructs an MJQPosStateData object.

Parameters:

• inName – The name of the state.

• newState – The initial state matrix.

virtual std::unique_ptr<StateData> clone() const override

Creates a clone of the current state data object.

Returns:

A unique pointer to the cloned StateData object.

void configure(mjModel *mujocoModel)

Configures the state data with the given MuJoCo model.

This method initializes the state and derivative sizes based on the given MuJoCo model.

Parameters:

mujocoModel – Pointer to the MuJoCo model.

void propagateState(double dt) override

Propagates the state over a time step.

This method integrates the position state using the state derivative over the given time step.

Parameters:

dt – The time step for propagation.

Protected Attributes

mjModel *mujocoModel

Pointer to the MuJoCo model associated with the state.