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Expose fixed constraint in RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-08-22 18:14:29 -07:00
parent 8eccac6fd8
commit d46710e447
7 changed files with 94 additions and 3 deletions
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12
examples/SharedMemory/SharedMemoryCommands.h
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@@ -366,6 +366,17 @@ struct CalculateInverseDynamicsResultArgs
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct CreateJointArgs
{
int m_parentBodyIndex;
int m_parentJointIndex;
int m_childBodyIndex;
int m_childJointIndex;
double m_parentFrame[7];
double m_childFrame[7];
double m_jointAxis[3];
};
struct SharedMemoryCommand
{
int m_type;
@@ -393,6 +404,7 @@ struct SharedMemoryCommand
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CreateJointArgs m_createJointArguments;
};
};