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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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7
examples/SharedMemory/SharedMemoryCommands.h
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@@ -393,8 +393,9 @@ struct CalculateJacobianResultArgs
enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_ORIENTATION=1,
IK_HAS_CURRENT_JOINT_POSITIONS=2,
IK_HAS_TARGET_POSITION=1,
IK_HAS_TARGET_ORIENTATION=2,
//IK_HAS_CURRENT_JOINT_POSITIONS=4,//not used yet
};
struct CalculateInverseKinematicsArgs
@@ -403,7 +404,7 @@ struct CalculateInverseKinematicsArgs
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_targetPosition[3];
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
double m_dt;
int m_endEffectorLinkIndex;
};
struct CalculateInverseKinematicsResultArgs