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[pybullet] Add calculateJacobian.

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* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
  in the calculateJacobian method.
* Fix a few comments.
This commit is contained in:
Jeffrey Bingham
2017-09-23 19:58:59 -07:00
parent a506879d6c
commit 1727e47beb
7 changed files with 241 additions and 64 deletions
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2
src/BulletInverseDynamics/IDMath.cpp
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@@ -69,7 +69,7 @@ idScalar maxAbsMat3x(const mat3x &m) {
void mul(const mat33 &a, const mat3x &b, mat3x *result) {
if (b.cols() != result->cols()) {
error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
static_cast<int>(b.cols()), static_cast<int>(result->cols()));
abort();
}

2
src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
View File

@@ -1013,7 +1013,7 @@ int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index,
int MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const{
CHECK_IF_BODY_INDEX_IS_VALID(body_index);
const RigidBody &body = m_body_list[body_index];
mul(body.m_body_T_world.transpose(), body.m_body_Jac_T,world_jac_trans);
mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans);
return 0;
}