Compute delta S from Bullet link state.

2016-09-10 19:18:29 -07:00
parent 1b72b91bcf
commit a00841a498
4 changed files with 16 additions and 4 deletions
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -175,7 +175,7 @@ public:
            
            // m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
            double q_new[7];
-            int ikMethod=IK2_SDLS;
+            int ikMethod=IK2_DLS;
            b3Vector3DoubleData dataOut;
            m_targetPos.serializeDouble(dataOut);
            b3Vector3DoubleData worldPosDataOut;