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Expose link state in RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-09-10 18:48:57 -07:00
parent c94a8e0d35
commit 1b72b91bcf
5 changed files with 30 additions and 1 deletions
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15
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -923,3 +923,18 @@ void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const doubl
b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
}
}
void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition)
{
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClient,bodyUniqueId);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
b3LinkState linkState;
b3GetLinkState(m_data->m_physicsClient, statusHandle, linkIndex, &linkState);
worldPosition[0] = linkState.m_worldPosition[0];
worldPosition[1] = linkState.m_worldPosition[1];
worldPosition[2] = linkState.m_worldPosition[2];
}
}