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Test four IK modes: with and without orientation constraint, with and without null space task.

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This commit is contained in:
yunfeibai
2016-09-30 00:15:51 -07:00
parent fd3cb061cb
commit ee00696ae9
3 changed files with 15 additions and 12 deletions
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2
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -485,7 +485,7 @@ bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKin
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId);
if (args.m_flags & (B3_HAS_IK_TARGET_ORIENTATION + B3_HAS_NULL_SPACE_VELOCITY))
if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
{
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0]);
} else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)