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preparation for KUKA IK tracking example

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This commit is contained in:
Erwin Coumans
2016-08-30 14:44:11 -07:00
parent 900fd86d58
commit a30ff20e6b
12 changed files with 535 additions and 15 deletions
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6
examples/ThirdPartyLibs/BussIK/Jacobian.h
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@@ -55,7 +55,7 @@ class Jacobian {
public:
Jacobian(Tree*);
void ComputeJacobian();
void ComputeJacobian(VectorR3* targets);
const MatrixRmn& ActiveJacobian() const { return *Jactive; }
void SetJendActive() { Jactive = &Jend; } // The default setting is Jend.
void SetJtargetActive() { Jactive = &Jtarget; }
@@ -69,9 +69,9 @@ public:
void CalcDeltaThetasSDLS();
void UpdateThetas();
double UpdateErrorArray(); // Returns sum of errors
double UpdateErrorArray(VectorR3* targets); // Returns sum of errors
const VectorRn& GetErrorArray() const { return errorArray; }
void UpdatedSClampValue();
void UpdatedSClampValue(VectorR3* targets);
void SetCurrentMode( UpdateMode mode ) { CurrentUpdateMode = mode; }
UpdateMode GetCurrentMode() const { return CurrentUpdateMode; }