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add test end-effector for Kuka iiwa (IK)

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erwin coumans
2016-09-22 19:48:26 -07:00
parent 310a330572
commit e356f4f1f6
6 changed files with 230 additions and 9 deletions
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2
examples/SharedMemory/IKTrajectoryHelper.h
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@@ -27,7 +27,7 @@ public:
const double endEffectorWorldPosition[3],
const double endEffectorWorldOrientation[4],
const double* q_old, int numQ,int endEffectorIndex,
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size);
double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, double dampIk=1.);
};
#endif //IK_TRAJECTORY_HELPER_H