Expose body Jacobian in shared memory API.

2016-09-07 16:00:38 -07:00
parent 21c60c66ec
commit c198029cb9
7 changed files with 172 additions and 1 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
@@ -138,6 +138,12 @@ void Jacobian::ComputeJacobian(VectorR3* targets)
 	}
 }

+void Jacobian::SetJendTrans(MatrixRmn& J)
+{
+    Jend.SetSize(J.GetNumRows(), J.GetNumColumns());
+    Jend.LoadAsSubmatrix(J);
+}
+
 // The delta theta values have been computed in dTheta array
 // Apply the delta theta values to the joints
 // Nothing is done about joint limits for now.