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

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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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13
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -94,15 +94,22 @@ struct b3RobotSimInverseKinematicArgs
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4];
double m_dt;
int m_endEffectorLinkIndex;
int m_flags;
b3RobotSimInverseKinematicArgs()
:m_bodyUniqueId(-1),
// m_currentJointPositions(0),
// m_numPositions(0),
m_endEffectorLinkIndex(-1),
m_flags(0)
{
m_endEffectorTargetPosition[0]=0;
m_endEffectorTargetPosition[1]=0;
m_endEffectorTargetPosition[2]=0;
m_endEffectorTargetOrientation[0]=0;
m_endEffectorTargetOrientation[1]=0;
m_endEffectorTargetOrientation[2]=0;
m_endEffectorTargetOrientation[3]=1;
}
};