fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects

2019-07-11 22:22:35 -07:00
parent d503d1442a
commit 31688ffb34
6 changed files with 320 additions and 4 deletions
--- a/examples/SharedMemory/IKTrajectoryHelper.cpp
+++ b/examples/SharedMemory/IKTrajectoryHelper.cpp
@@ -231,7 +231,7 @@ bool IKTrajectoryHelper::computeIK2(
 				deltaC.Set(ne*3+i, deltaS[i]);
 				for (int j = 0; j < numQ; ++j)
 				{
-					completeJacobian.Set(ne * 3 + i, j, linear_jacobians[(ne*3+i * numQ) + j]);
+					completeJacobian.Set(ne * 3 + i, j, linear_jacobians[((ne*3+i) * numQ) + j]);
 				}
 			}
 		}