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Use body Jacobian from Bullet for IK.

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This commit is contained in:
yunfeibai
2016-09-07 23:14:23 -07:00
parent f635c64205
commit c94a8e0d35
4 changed files with 21 additions and 6 deletions
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5
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -166,16 +166,13 @@ public:
// compute body Jacobian
m_robotSim.getBodyJacobian(0, 6, local_position, q_current, qdot_current, qddot_current, jacobian_linear, jacobian_angular);
for (int i = 0; i < 21; ++i) {
printf("j%d: %f\n", i, jacobian_linear[i]);
}
// m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
double q_new[7];
int ikMethod=IK2_SDLS;
b3Vector3DoubleData dataOut;
m_targetPos.serializeDouble(dataOut);
m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod);
m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod,jacobian_linear,(sizeof(jacobian_linear)/sizeof(*jacobian_linear)));
printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
q_new[3],q_new[4],q_new[5],q_new[6]);