Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Allow current positions for Calculate IK.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -935,6 +935,10 @@ bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseKinematics(const struct
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]); 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; b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);

4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -112,13 +112,12 @@ enum b3RobotSimulatorInverseKinematicsFlags
B3_HAS_IK_TARGET_ORIENTATION = 1, B3_HAS_IK_TARGET_ORIENTATION = 1,
B3_HAS_NULL_SPACE_VELOCITY = 2, B3_HAS_NULL_SPACE_VELOCITY = 2,
B3_HAS_JOINT_DAMPING = 4, B3_HAS_JOINT_DAMPING = 4,
B3_HAS_CURRENT_POSITIONS = 8,
}; };
struct b3RobotSimulatorInverseKinematicArgs struct b3RobotSimulatorInverseKinematicArgs
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3]; double m_endEffectorTargetPosition[3];
double m_endEffectorTargetOrientation[4]; double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex; int m_endEffectorLinkIndex;
@@ -129,6 +128,7 @@ struct b3RobotSimulatorInverseKinematicArgs
btAlignedObjectArray<double> m_jointRanges; btAlignedObjectArray<double> m_jointRanges;
btAlignedObjectArray<double> m_restPoses; btAlignedObjectArray<double> m_restPoses;
btAlignedObjectArray<double> m_jointDamping; btAlignedObjectArray<double> m_jointDamping;
btAlignedObjectArray<double> m_currentJointPositions;
b3RobotSimulatorInverseKinematicArgs() b3RobotSimulatorInverseKinematicArgs()
: m_bodyUniqueId(-1), : m_bodyUniqueId(-1),