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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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10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -391,12 +391,18 @@ struct CalculateJacobianResultArgs
double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
};
enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_ORIENTATION=1,
IK_HAS_CURRENT_JOINT_POSITIONS=2,
};
struct CalculateInverseKinematicsArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_targetPosition[3];
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
// double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
};
struct CalculateInverseKinematicsResultArgs