Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -121,8 +121,9 @@ b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian);
///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double targetPosition[3], const double targetOrientation[4], const double dt);
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]);
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,