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Merge remote-tracking branch 'bp/master'

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Erwin Coumans
2017-09-24 09:49:53 -07:00
parent 63ee841bea 17709ae690
commit 70364445b8
7 changed files with 243 additions and 64 deletions
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5
examples/SharedMemory/PhysicsClientC_API.h
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@@ -316,7 +316,10 @@ B3_SHARED_API int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHand
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian);
B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle,
int* dofCount,
double* linearJacobian,
double* angularJacobian);
///compute the joint positions to move the end effector to a desired target using inverse kinematics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);