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remove testing getToeForces

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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
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13
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -280,16 +280,3 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
return m_data->m_quadrupedUniqueId; 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;
}

2
examples/RobotSimulator/MinitaurSetup.h
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@@ -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); 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 #endif //MINITAUR_SIMULATION_SETUP_H