Class ElasticBand

TextOpDeploy/src/unitree_mujoco/simulate/src/mujoco/simulate.h:35–48

namespace mujoco
{
  class ElasticBand
  {
  public:
    ElasticBand();
    ~ElasticBand();
    void Advance(std::vector<double> x, std::vector<double> dx);

    double stiffness_ = 200;
    double damping_ = 100;
    std::vector<double> point_ = {0, 0, 3};
    double length_ = 0.0;
    bool enable_ = true;
    std::vector<double> f_ = {0, 0, 0};
  };
  // The viewer itself doesn't require a reentrant mutex, however we use it in
  // order to provide a Python sync API that doesn't require separate locking
  // (since sync is by far the most common operation), but that also won't