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Add IK damping coefficient vector.

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YunfeiBai
2016-09-27 16:37:49 -07:00
parent 61fccba5be
commit 3910003e0a
6 changed files with 15 additions and 178 deletions
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13
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -21,13 +21,12 @@ public:
IKTrajectoryHelper();
virtual ~IKTrajectoryHelper();
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorTargetOrientation[4],
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ,int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk=1.);
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorTargetOrientation[4],
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ, int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
};
#endif //IK_TRAJECTORY_HELPER_H