From 164d3e62c35327e13b9deb3fd4037e45297bfd89 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 9 Jan 2018 18:13:34 -0800 Subject: [PATCH] remove testing getToeForces --- examples/RobotSimulator/MinitaurSetup.cpp | 13 ------------- examples/RobotSimulator/MinitaurSetup.h | 4 +--- 2 files changed, 1 insertion(+), 16 deletions(-) diff --git a/examples/RobotSimulator/MinitaurSetup.cpp b/examples/RobotSimulator/MinitaurSetup.cpp index 36cc05891..ec4a174e4 100644 --- a/examples/RobotSimulator/MinitaurSetup.cpp +++ b/examples/RobotSimulator/MinitaurSetup.cpp @@ -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; -} diff --git a/examples/RobotSimulator/MinitaurSetup.h b/examples/RobotSimulator/MinitaurSetup.h index e6b994077..a054ade92 100644 --- a/examples/RobotSimulator/MinitaurSetup.h +++ b/examples/RobotSimulator/MinitaurSetup.h @@ -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 - \ No newline at end of file +