Add desired null space velocity computation.

2016-09-29 22:45:31 -07:00
parent 94c7bbe8e3
commit 29f890ae10
5 changed files with 40 additions and 10 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -96,6 +96,9 @@ struct b3RobotSimInverseKinematicArgs
 	double m_endEffectorTargetOrientation[4];
    int m_endEffectorLinkIndex;
 	int m_flags;
+    b3AlignedObjectArray<double> m_lowerLimits;
+    b3AlignedObjectArray<double> m_upperLimits;
+    b3AlignedObjectArray<double> m_jointRanges;

 	b3RobotSimInverseKinematicArgs()
 		:m_bodyUniqueId(-1),