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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/SharedMemory/IKTrajectoryHelper.h
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@@ -8,7 +8,8 @@ enum IK2_Method
IK2_DLS,
IK2_SDLS ,
IK2_DLS_SVD,
IK2_VEL_DLS
IK2_VEL_DLS,
IK2_VEL_DLS_WITH_ORIENTATION,
};
@@ -20,17 +21,13 @@ public:
IKTrajectoryHelper();
virtual ~IKTrajectoryHelper();
///todo: replace createKukaIIWA with a generic way of create an IK tree
void createKukaIIWA();
bool createFromMultiBody(class btMultiBody* mb);
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorTargetOrientation[4],
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, float dt);
const double* q_old, int numQ,int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size);
};
#endif //IK_TRAJECTORY_HELPER_H