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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-09-11 04:11:51 -07:00
parent a00841a498 30bd1d7362
commit c952c50ad9
66 changed files with 2812 additions and 1923 deletions
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31
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -1,6 +1,6 @@
#include "KukaGraspExample.h"
#include "IKTrajectoryHelper.h"
#include "../SharedMemory/IKTrajectoryHelper.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
@@ -140,8 +140,11 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_time+=deltaTime;
m_targetPos.setValue(0.5, 0, 0.5+0.4*b3Sin(3 * m_time));
float dt = deltaTime;
btClamp(dt,0.0001f,0.01f);
m_time+=dt;
m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
@@ -174,6 +177,28 @@ public:
m_robotSim.getBodyJacobian(0, 6, local_position, q_current, qdot_current, qddot_current, jacobian_linear, jacobian_angular);
// m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
/*
b3RobotSimInverseKinematicArgs ikargs;
b3RobotSimInverseKinematicsResults ikresults;
ikargs.m_bodyUniqueId = m_kukaIndex;
ikargs.m_currentJointPositions = q_current;
ikargs.m_numPositions = 7;
ikargs.m_endEffectorTargetPosition[0] = dataOut.m_floats[0];
ikargs.m_endEffectorTargetPosition[1] = dataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = dataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[0] = 0;
ikargs.m_endEffectorTargetOrientation[1] = 0;
ikargs.m_endEffectorTargetOrientation[2] = 0;
ikargs.m_endEffectorTargetOrientation[3] = 1;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{
}
*/
double q_new[7];
int ikMethod=IK2_DLS;
b3Vector3DoubleData dataOut;