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Add orientation constraint to IK.

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This commit is contained in:
yunfeibai
2016-09-19 17:04:05 -07:00
parent 48d42c7c6e
commit bf16c87987
11 changed files with 125 additions and 47 deletions
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5
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -93,7 +93,8 @@ struct b3RobotSimInverseKinematicArgs
// double* m_currentJointPositions;
// int m_numPositions;
double m_endEffectorTargetPosition[3];
// double m_endEffectorTargetOrientation[4];
double m_endEffectorTargetOrientation[4];
double m_dt;
int m_flags;
b3RobotSimInverseKinematicArgs()
@@ -149,7 +150,7 @@ public:
void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition);
void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation);
};
#endif //B3_ROBOT_SIM_API_H