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/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -409,6 +409,7 @@ struct CalculateInverseKinematicsArgs
    double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
    double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
    double m_jointRange[MAX_DEGREE_OF_FREEDOM];
+    double m_restPose[MAX_DEGREE_OF_FREEDOM];
 };

 struct CalculateInverseKinematicsResultArgs