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Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base.

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yunfeibai
2017-04-17 16:54:45 -07:00
parent ee753eef6f
commit a7068bb57a
2 changed files with 36 additions and 5 deletions
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11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4639,7 +4639,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
// Set jacobian value
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, num_dofs);
tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex, &jac_t);
tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex+1, &jac_t);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < num_dofs; ++j)
@@ -5065,8 +5065,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
// Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < numDofs; ++j)
@@ -6235,8 +6236,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3,numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < numDofs; ++j)