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Merge pull request #1350 from bingjeff/add_mass_matrix

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[pybullet] Add calculateMassMatrix.
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erwincoumans
2017-10-05 07:45:30 -07:00
committed by GitHub
parent 3821f85019 e04820af73
commit a2d6a2e822
8 changed files with 232 additions and 9 deletions
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9
examples/SharedMemory/PhysicsClientC_API.h
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@@ -311,19 +311,24 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
B3_SHARED_API int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle,
int* dofCount,
double* linearJacobian,
double* angularJacobian);
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double* jointPositionsQ);
B3_SHARED_API int b3GetStatusMassMatrix(b3SharedMemoryStatusHandle statusHandle,
int* dofCount,
double* massMatrix);
///compute the joint positions to move the end effector to a desired target using inverse kinematics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/]);