Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
This commit is contained in:
yunfeibai
2017-02-03 11:08:44 -08:00
parent 0022d0dafb
commit ce9378f819
7 changed files with 44 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -236,6 +236,7 @@ void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHand
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,