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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);

4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

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