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tweak Minitaur/RobotSimulator, fix target value from int to double

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This commit is contained in:
Erwin Coumans
2017-02-24 21:40:43 -08:00
parent a4f1e34899
commit 88aa9e899e
5 changed files with 78 additions and 45 deletions
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3
examples/RobotSimulator/MinitaurSetup.h
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@@ -6,6 +6,7 @@
class MinitaurSetup
{
struct MinitaurSetupInternalData* m_data;
void resetPose(class b3RobotSimulatorClientAPI* sim);
public:
MinitaurSetup();
@@ -13,7 +14,7 @@ public:
int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
void resetPose();
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
};
#endif //MINITAUR_SIMULATION_SETUP_H