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Add inverse kinematics example with implementations by Sam Buss.

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Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
This commit is contained in:
erwin coumans
2016-07-24 22:22:42 -07:00
parent 77b9e1a3e2
commit 75e86051c2
29 changed files with 9926 additions and 29 deletions
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13
examples/ExampleBrowser/CMakeLists.txt
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@@ -155,6 +155,8 @@ SET(BulletExampleBrowser_SRCS
../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp
../InverseDynamics/InverseDynamicsExample.h
../InverseKinematics/InverseKinematicsExample.cpp
../InverseKinematics/InverseKinematicsExample.h
../ForkLift/ForkLiftDemo.cpp
../ForkLift/ForkLiftDemo.h
../Tutorial/Tutorial.cpp
@@ -298,6 +300,17 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.h
../ThirdPartyLibs/BussIK/Jacobian.cpp
../ThirdPartyLibs/BussIK/Tree.cpp
../ThirdPartyLibs/BussIK/Node.cpp
../ThirdPartyLibs/BussIK/LinearR2.cpp
../ThirdPartyLibs/BussIK/LinearR3.cpp
../ThirdPartyLibs/BussIK/LinearR4.cpp
../ThirdPartyLibs/BussIK/MatrixRmn.cpp
../ThirdPartyLibs/BussIK/VectorRn.cpp
../ThirdPartyLibs/BussIK/Misc.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp