Add shared memory API and RobotSim API for setting joint damping in IK.

2017-02-03 11:08:44 -08:00
parent 0022d0dafb
commit ce9378f819
7 changed files with 44 additions and 5 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -86,6 +86,7 @@ enum b3InverseKinematicsFlags
 {
 	B3_HAS_IK_TARGET_ORIENTATION=1,
    B3_HAS_NULL_SPACE_VELOCITY=2,
+    B3_HAS_JOINT_DAMPING=4,
 };

 struct b3RobotSimInverseKinematicArgs
@@ -102,6 +103,7 @@ struct b3RobotSimInverseKinematicArgs
    b3AlignedObjectArray<double> m_upperLimits;
    b3AlignedObjectArray<double> m_jointRanges;
    b3AlignedObjectArray<double> m_restPoses;
+    b3AlignedObjectArray<double> m_jointDamping;

 	b3RobotSimInverseKinematicArgs()
 		:m_bodyUniqueId(-1),