Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

init ERP for second btMultiBodyJointMotor,

Browse Source 
comment-out debug printf in Kuka IK example
This commit is contained in:
Erwin Coumans
2016-09-11 05:54:47 +01:00
parent c5d775a635
commit 82661d98cd
2 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
examples/RoboticsLearning/KukaGraspExample.cpp
View File

@@ -192,8 +192,11 @@ public:
int ikMethod=IK2_SDLS; int ikMethod=IK2_SDLS;
m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod); m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod);
printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2], // printf("q_current = %f,%f,%f,%f,%f,%f,%f\n", q_current[0],q_current[1],q_current[2],
q_new[3],q_new[4],q_new[5],q_new[6]); // q_current[3],q_current[4],q_current[5],q_current[6]);
// printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
// q_new[3],q_new[4],q_new[5],q_new[6]);
//set the //set the
for (int i=0;i<numJoints;i++) for (int i=0;i<numJoints;i++)

3
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
View File

@@ -58,7 +58,8 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int li
m_desiredVelocity(desiredVelocity), m_desiredVelocity(desiredVelocity),
m_desiredPosition(0), m_desiredPosition(0),
m_kd(1.), m_kd(1.),
m_kp(0) m_kp(0),
m_erp(1)
{ {
btAssert(linkDoF < body->getLink(link).m_dofCount); btAssert(linkDoF < body->getLink(link).m_dofCount);