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/ThirdPartyLibs/BussIK/Jacobian.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
@@ -144,6 +144,11 @@ void Jacobian::SetJendTrans(MatrixRmn& J)
    Jend.LoadAsSubmatrix(J);
 }

+void Jacobian::SetDeltaS(VectorRn& S)
+{
+    dS.Set(S);
+}
+
 // The delta theta values have been computed in dTheta array
 // Apply the delta theta values to the joints
 // Nothing is done about joint limits for now.