Expose IK solver options including DLS and SDLS.

2017-10-19 14:00:53 -07:00
parent 1393666a83
commit dda1b05f4a
10 changed files with 64 additions and 20 deletions
--- a/examples/SharedMemory/IKTrajectoryHelper.h
+++ b/examples/SharedMemory/IKTrajectoryHelper.h
@@ -12,6 +12,8 @@ enum IK2_Method
 	IK2_VEL_DLS_WITH_ORIENTATION,
    IK2_VEL_DLS_WITH_NULLSPACE,
    IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE,
+	IK2_VEL_SDLS,
+	IK2_VEL_SDLS_WITH_ORIENTATION,
 };