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fix getLinkState usage

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This commit is contained in:
erwincoumans
2018-06-12 17:00:16 -07:00
parent 4d6741f5cd
commit 08d84d6ce3
2 changed files with 7 additions and 2 deletions
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5
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -502,7 +502,10 @@ public:
} }
// compute body position and orientation // compute body position and orientation
b3LinkState linkState; b3LinkState linkState;
m_robotSim.getLinkState(0, 6, &linkState); bool computeVelocity=true;
bool computeForwardKinematics=true;
m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]); m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]); m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);

4
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -151,7 +151,9 @@ public:
} }
// compute body position and orientation // compute body position and orientation
b3LinkState linkState; b3LinkState linkState;
m_robotSim.getLinkState(0, 6, &linkState); bool computeVelocity=true;
bool computeForwardKinematics=true;
m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]); m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]); m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);