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make IK compile on Mac OSX

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This commit is contained in:
Erwin Coumans
2016-07-24 23:50:18 -07:00
parent 75e86051c2
commit 53fa57bdc4
9 changed files with 14 additions and 230 deletions
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3
examples/InverseKinematics/InverseKinematicsExample.cpp
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@@ -113,6 +113,9 @@ void DoUpdateStep(double Tstep, Tree & treeY, Jacobian *jacob, int ikMethod) {
case IK_DLS:
jacob->CalcDeltaThetasDLS(); // Damped least squares method
break;
case IK_DLS_SVD:
jacob->CalcDeltaThetasDLSwithSVD();
break;
case IK_PURE_PSEUDO:
jacob->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method
break;

2
examples/InverseKinematics/InverseKinematicsExample.h
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@@ -1,7 +1,7 @@
#ifndef INVERSE_KINEMATICSEXAMPLE_H
#define INVERSE_KINEMATICSEXAMPLE_H
enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS };
enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS , IK_DLS_SVD};
class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options);