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

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yunfeibai
2017-02-03 11:08:44 -08:00
parent 0022d0dafb
commit ce9378f819
7 changed files with 44 additions and 5 deletions
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4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -512,7 +512,8 @@ enum EnumCalculateInverseKinematicsFlags
IK_HAS_TARGET_POSITION=1,
IK_HAS_TARGET_ORIENTATION=2,
IK_HAS_NULL_SPACE_VELOCITY=4,
//IK_HAS_CURRENT_JOINT_POSITIONS=8,//not used yet
IK_HAS_JOINT_DAMPING=8,
//IK_HAS_CURRENT_JOINT_POSITIONS=16,//not used yet
};
struct CalculateInverseKinematicsArgs
@@ -526,6 +527,7 @@ struct CalculateInverseKinematicsArgs
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
double m_restPose[MAX_DEGREE_OF_FREEDOM];
double m_jointDamping[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsResultArgs