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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)

3
examples/SharedMemory/IKTrajectoryHelper.cpp
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@@ -75,6 +75,8 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
// Set one end effector world orientation from Bullet
VectorRn deltaR(3);
if (useAngularPart)
{
btQuaternion startQ(endEffectorWorldOrientation[0],endEffectorWorldOrientation[1],endEffectorWorldOrientation[2],endEffectorWorldOrientation[3]);
btQuaternion endQ(endEffectorTargetOrientation[0],endEffectorTargetOrientation[1],endEffectorTargetOrientation[2],endEffectorTargetOrientation[3]);
btQuaternion deltaQ = endQ*startQ.inverse();
@@ -86,6 +88,7 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
{
deltaR.Set(i,dampIk[i+3]*angularVel[i]);
}
}
{

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2666,7 +2666,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> q_new;
q_new.resize(numDofs);
int ikMethod = 0;
if (clientCmd.m_updateFlags& (IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY))
if ((clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)&&(clientCmd.m_updateFlags&IK_HAS_NULL_SPACE_VELOCITY))
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
}
@@ -2683,7 +2683,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
ikMethod = IK2_VEL_DLS;
}
if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
{
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;