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Expose Jacobian computation to RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-09-07 17:37:38 -07:00
parent c198029cb9
commit f635c64205
7 changed files with 28 additions and 15 deletions
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11
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -912,3 +912,14 @@ void b3RobotSimAPI::renderScene()
}
m_data->m_physicsServer.renderScene();
}
void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
{
b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClient, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
{
b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
}
}