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Expose rest pose for null space task to API.

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This commit is contained in:
yunfeibai
2016-09-30 01:03:40 -07:00
parent 1c1d3db26d
commit 7e8d8b0488
9 changed files with 50 additions and 33 deletions
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6
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1391,7 +1391,7 @@ void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemory
}
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange)
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -1408,10 +1408,11 @@ void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[i];
command->m_calculateInverseKinematicsArguments.m_restPose[i] = restPose[i];
}
}
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange)
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -1433,6 +1434,7 @@ void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHan
command->m_calculateInverseKinematicsArguments.m_lowerLimit[i] = lowerLimit[i];
command->m_calculateInverseKinematicsArguments.m_upperLimit[i] = upperLimit[i];
command->m_calculateInverseKinematicsArguments.m_jointRange[i] = jointRange[i];
command->m_calculateInverseKinematicsArguments.m_restPose[i] = restPose[i];
}
}