Expose link state in RobotSimAPI.

2016-09-10 18:48:57 -07:00
parent c94a8e0d35
commit 1b72b91bcf
5 changed files with 30 additions and 1 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -117,6 +117,8 @@ public:
 	void debugDraw(int debugDrawMode);
    
    void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
+    
+    void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition);
 };

 #endif //B3_ROBOT_SIM_API_H