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remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive.

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erwincoumans
2018-06-11 23:49:34 -07:00
parent 62485abafe
commit a342af0382
2 changed files with 0 additions and 8 deletions
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6
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -896,13 +896,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::getBodyJacobian(int bodyUniqueId, int l
}
bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
{
bool computeLinkVelocity = true;
bool computeForwardKinematics = true;
return getLinkState(bodyUniqueId, linkIndex, computeLinkVelocity, computeForwardKinematics, linkState);
}
bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
{