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

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This commit is contained in:
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) bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
{ {

2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -555,8 +555,6 @@ public:
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian); bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable); void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos); void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos);