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/SharedMemory/IKTrajectoryHelper.h
+++ b/examples/SharedMemory/IKTrajectoryHelper.h
@@ -10,6 +10,7 @@ enum IK2_Method
    IK2_DLS_SVD,
    IK2_VEL_DLS,
 	IK2_VEL_DLS_WITH_ORIENTATION,
+    IK2_VEL_DLS_WITH_NULLSPACE,
 };


@@ -28,5 +29,7 @@ public:
 		const double* q_old, int numQ, int endEffectorIndex,
 		double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
    
+    bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range);
+    
 };
 #endif //IK_TRAJECTORY_HELPER_H