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Add b3GetStatusActualState() to C_API.

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Change pick-and-move C_API to use handlers
This commit is contained in:
Erwin Coumans
2015-11-04 16:08:28 -08:00
parent d6464ce40d
commit 2317307a22
4 changed files with 100 additions and 45 deletions
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10
test/SharedMemory/test.c
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@@ -128,13 +128,12 @@ int main(int argc, char* argv[])
if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
#if 0
posVarCount =status.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
dofCount =status.m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3GetStatusActualState(statusHandle,
0, &posVarCount, &dofCount,
0, 0, 0, 0);
b3Printf("posVarCount = %d\n",posVarCount);
printf("dofCount = %d\n",dofCount);
#endif
}
}
@@ -177,7 +176,6 @@ int main(int argc, char* argv[])
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
b3GetJointInfo(sm,bodyIndex,sensorJointIndexRight,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],