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Allow current positions for Calculate IK.

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Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.
This commit is contained in:
mbennice
2018-08-23 13:19:15 -07:00
parent d44571a4b3
commit 780b280181
2 changed files with 6 additions and 2 deletions
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4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -935,6 +935,10 @@ bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseKinematics(const struct
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
}
if (args.m_flags & B3_HAS_CURRENT_POSITIONS) {
b3CalculateInverseKinematicsSetCurrentPositions(command, args.m_numDegreeOfFreedom, &args.m_currentJointPositions[0]);
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);