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experimental Inverse Kinematics for KUKA iiwa exposed in

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shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
This commit is contained in:
Erwin Coumans
2016-09-13 23:37:46 +01:00
parent e5a8eb2425
commit 5e09b17baf
10 changed files with 303 additions and 129 deletions
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13
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -90,16 +90,16 @@ enum b3InverseKinematicsFlags
struct b3RobotSimInverseKinematicArgs
{
int m_bodyUniqueId;
double* m_currentJointPositions;
int m_numPositions;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[3];
// double m_endEffectorTargetOrientation[4];
int m_flags;
b3RobotSimInverseKinematicArgs()
:m_bodyUniqueId(-1),
m_currentJointPositions(0),
m_numPositions(0),
// m_currentJointPositions(0),
// m_numPositions(0),
m_flags(0)
{
}
@@ -108,8 +108,7 @@ struct b3RobotSimInverseKinematicArgs
struct b3RobotSimInverseKinematicsResults
{
int m_bodyUniqueId;
double* m_calculatedJointPositions;
int m_numPositions;
b3AlignedObjectArray<double> m_calculatedJointPositions;
};
class b3RobotSimAPI