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Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.

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erwincoumans
2019-02-27 09:54:12 -08:00
parent 09dbb8ba1b
commit 8e1c1448ab
6 changed files with 291 additions and 299 deletions
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examples/SharedMemory/SharedMemoryCommands.h
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@@ -531,6 +531,7 @@ struct SendActualStateArgs
double m_jointReactionForces[6 * MAX_DEGREE_OF_FREEDOM];
double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
double m_jointMotorForceMultiDof[MAX_DEGREE_OF_FREEDOM];
double m_linkState[7 * MAX_NUM_LINKS];
double m_linkWorldVelocities[6 * MAX_NUM_LINKS]; //linear velocity and angular velocity in world space (x/y/z each).