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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/ThirdPartyLibs/BussIK/Jacobian.h
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@@ -54,6 +54,7 @@ enum UpdateMode {
class Jacobian {
public:
Jacobian(Tree*);
Jacobian(bool useAngularJacobian, int nDof);
void ComputeJacobian(VectorR3* targets);
const MatrixRmn& ActiveJacobian() const { return *Jactive; }
@@ -69,7 +70,7 @@ public:
void CalcDeltaThetasDLS();
void CalcDeltaThetasDLSwithSVD();
void CalcDeltaThetasSDLS();
void CalcThetasDotDLS(float dt);
void UpdateThetas();
void UpdateThetaDot();
@@ -90,8 +91,8 @@ public:
int GetNumCols() {return nCol;}
public:
Tree* tree; // tree associated with this Jacobian matrix
int nEffector; // Number of end effectors
Tree* m_tree; // tree associated with this Jacobian matrix
int m_nEffector; // Number of end effectors
int nJoint; // Number of joints
int nRow; // Total number of rows the real J (= 3*number of end effectors for now)
int nCol; // Total number of columns in the real J (= number of joints for now)