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Add calculateMass to shared memory interface.

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This commit is contained in:
Jeffrey Bingham
2017-09-30 13:39:11 -07:00
parent 31ee8bf8bc
commit 7dfed65287
4 changed files with 68 additions and 2 deletions
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14
examples/SharedMemory/SharedMemoryCommands.h
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@@ -638,6 +638,18 @@ struct CalculateJacobianResultArgs
double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
};
struct CalculateMassMatrixArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateMassMatrixResultArgs
{
int m_dofCount;
double m_massMatrix[MAX_DEGREE_OF_FREEDOM * MAX_DEGREE_OF_FREEDOM];
};
enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_POSITION=1,
@@ -969,6 +981,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CalculateMassMatrixArgs m_calculateMassMatrixArguments;
struct b3UserConstraint m_userConstraintArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
@@ -1043,6 +1056,7 @@ struct SharedMemoryStatus
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
struct CalculateJacobianResultArgs m_jacobianResultArgs;
struct CalculateMassMatrixResultArgs m_massMatrixResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs;
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;