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Merge pull request #661 from erwincoumans/master

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fix some issues related to controlling a robot/multibody beyond body …
This commit is contained in:
erwincoumans
2016-06-17 07:34:07 -07:00
committed by GitHub
parent 70c7ec6c45 53a0772257
commit c7365837cd
7 changed files with 248 additions and 70 deletions
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4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -97,7 +97,7 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien
///Set joint control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
@@ -134,7 +134,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors.
///This is rather inconsistent, to mix programmatical creation with loading from file.
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
///b3CreateSensorEnableIMUForLink is not implemented yet.
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.