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Test IK in VR.

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This commit is contained in:
YunfeiBai
2016-09-25 14:24:28 -07:00
parent 666c8f47b7
commit c0029135d8
2 changed files with 34 additions and 26 deletions
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6
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -128,9 +128,9 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
case IK2_JACOB_TRANS:
m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method
break;
case IK2_DLS:
case IK2_VEL_DLS_WITH_ORIENTATION:
case IK2_DLS:
case IK2_VEL_DLS:
case IK2_VEL_DLS_WITH_ORIENTATION:
m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method
break;
case IK2_DLS_SVD:
@@ -148,7 +148,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
}
// Use for velocity IK, update theta dot
m_data->m_ikJacobian->UpdateThetaDot();
//m_data->m_ikJacobian->UpdateThetaDot();
// Use for position IK, incrementally update theta
//m_data->m_ikJacobian->UpdateThetas();