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more comments in SharedMemory C API

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This commit is contained in:
Erwin Coumans
2016-04-13 17:09:48 -07:00
parent 34e6eb4a18
commit 4df7257250
1 changed files with 10 additions and 3 deletions
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13
examples/SharedMemory/PhysicsClientC_API.h
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@@ -74,8 +74,10 @@ b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle ph
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName); b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
///all those commands are optional, except for the *Init
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody); int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
@@ -109,16 +111,21 @@ int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandH
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha); int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles. ///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position,
///This will set all velocities of base and joints to zero. ///base orientation and joint angles. This will set all velocities of base and joints to zero.
///This is not a robot control command using actuators/joint motors, but manual repositioning the robot.
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex); b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions); int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions);
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition); int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
///This is rather inconsistent, to mix programmatical creation with loading from file.
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable); int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
///b3CreateSensorEnableIMUForLink is not implemented yet.
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable); int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId); b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);