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fix InverseKinematics+API for a case without tree (custom build Jacobian)

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This commit is contained in:
erwin coumans
2016-09-22 13:27:09 -07:00
parent 46b32f17bb
commit 310a330572
12 changed files with 251 additions and 211 deletions
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6
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -78,7 +78,6 @@ public:
m_ikHelper.createKukaIIWA();
bool connected = m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
@@ -114,6 +113,7 @@ public:
*/
}
if (0)
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "kiva_shelf/model.sdf";
@@ -195,11 +195,13 @@ public:
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
ikargs.m_dt = dt;
ikargs.m_endEffectorLinkIndex = 6;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{