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Merge pull request #603 from YunfeiBai/master

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Add measured joint motor force to joint sensor state.
This commit is contained in:
erwincoumans
2016-04-19 10:57:56 -07:00
parent f05bef2ea3 f9719e2405
commit 9fa7356d28
2 changed files with 2 additions and 0 deletions
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1
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -218,6 +218,7 @@ void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandl
for (int ii(0); ii < 6; ++ii) { for (int ii(0); ii < 6; ++ii) {
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii]; state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
} }
state->m_jointTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
} }
} }

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -94,6 +94,7 @@ struct b3JointSensorState
double m_jointPosition; double m_jointPosition;
double m_jointVelocity; double m_jointVelocity;
double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointTorque;
}; };
struct b3DebugLines struct b3DebugLines