Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove testing getToeForces

Browse Source
This commit is contained in:
Erwin Coumans
2018-01-09 18:13:34 -08:00
parent 616d3358bd
commit 164d3e62c3
2 changed files with 1 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/RobotSimulator/MinitaurSetup.cpp
View File

@@ -280,16 +280,3 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
return m_data->m_quadrupedUniqueId;
}
int MinitaurSetup::getToeForces(class b3RobotSimulatorClientAPI* sim, int groundid, b3Vector3 normalForcesOut[4])
{
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[0]], groundid, -1, &normalForcesOut[0]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[2]], groundid, -1, &normalForcesOut[1]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[4]], groundid, -1, &normalForcesOut[2]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[5]], groundid, -1, &normalForcesOut[3]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[1]], groundid, -1, &normalForcesOut[4]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[3]], groundid, -1, &normalForcesOut[5]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[6]], groundid, -1, &normalForcesOut[6]);
sim->getContactNormalForce(m_data->m_quadrupedUniqueId, *m_data->m_jointNameToId[kneeNames[7]], groundid, -1, &normalForcesOut[7]);
return 0;
}

4
examples/RobotSimulator/MinitaurSetup.h
View File

@@ -16,8 +16,6 @@ public:
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
// Added for testing
int getToeForces(class b3RobotSimulatorClientAPI* sim, int groundid, b3Vector3 normalForcesOut[4]);
};
#endif //MINITAUR_SIMULATION_SETUP_H