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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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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2688,15 +2688,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;
btAlignedObjectArray<double> joint_range;
btAlignedObjectArray<double> rest_pose;
lower_limit.resize(numDofs);
upper_limit.resize(numDofs);
joint_range.resize(numDofs);
rest_pose.resize(numDofs);
for (int i = 0; i < numDofs; ++i)
{
lower_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_lowerLimit[i];
upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0]);
rest_pose[i] = clientCmd.m_calculateInverseKinematicsArguments.m_restPose[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
}