Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Expose body Jacobian in shared memory API.

Browse Source
This commit is contained in:
yunfeibai
2016-09-07 16:00:38 -07:00
parent 21c60c66ec
commit c198029cb9
7 changed files with 172 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -372,6 +372,25 @@ struct CalculateInverseDynamicsResultArgs
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateJacobianArgs
{
int m_bodyUniqueId;
int m_linkIndex;
double m_localPosition[3];
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateJacobianResultArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_dofCount;
double m_linearJacobian[3*MAX_DEGREE_OF_FREEDOM];
double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
};
struct CreateJointArgs
{
int m_parentBodyIndex;
@@ -411,6 +430,7 @@ struct SharedMemoryCommand
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CreateJointArgs m_createJointArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
};
@@ -444,6 +464,7 @@ struct SharedMemoryStatus
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
struct CalculateJacobianResultArgs m_jacobianResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
};
};