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Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).

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See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
This commit is contained in:
erwin coumans
2015-10-13 22:23:28 -07:00
parent 4a29986662
commit a0e507280c
6 changed files with 207 additions and 45 deletions
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9
examples/SharedMemory/PhysicsClientC_API.h
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@@ -84,7 +84,14 @@ b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle ph
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.
///This will set all velocities of base and joints to zero.
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, double* jointPositions);
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition);
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);