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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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7
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -7,7 +7,8 @@ enum IK2_Method
IK2_PURE_PSEUDO,
IK2_DLS,
IK2_SDLS ,
IK2_DLS_SVD
IK2_DLS_SVD,
IK2_VEL_DLS
};
@@ -25,9 +26,11 @@ public:
bool createFromMultiBody(class btMultiBody* mb);
bool computeIK(const double endEffectorTargetPosition[3],
const double endEffectorTargetOrientation[4],
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ,
double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size);
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, float dt);
};
#endif //IK_TRAJECTORY_HELPER_H