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Expose body Jacobian in shared memory API.

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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
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3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -29,6 +29,7 @@ enum EnumSharedMemoryClientCommand
CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_CALCULATE_INVERSE_KINEMATICS,
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
//don't go beyond this command!
@@ -67,6 +68,8 @@ enum EnumSharedMemoryServerStatus
CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_CALCULATED_JACOBIAN_COMPLETED,
CMD_CALCULATED_JACOBIAN_FAILED,
CMD_CONTACT_POINT_INFORMATION_COMPLETED,
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_MAX_SERVER_COMMANDS