Expose rest pose for null space task to API.

2016-09-30 01:03:40 -07:00
parent 1c1d3db26d
commit 7e8d8b0488
9 changed files with 50 additions and 33 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -101,6 +101,7 @@ struct b3RobotSimInverseKinematicArgs
    b3AlignedObjectArray<double> m_lowerLimits;
    b3AlignedObjectArray<double> m_upperLimits;
    b3AlignedObjectArray<double> m_jointRanges;
+    b3AlignedObjectArray<double> m_restPoses;

 	b3RobotSimInverseKinematicArgs()
 		:m_bodyUniqueId(-1),