Expose Jacobian computation to RobotSimAPI.

2016-09-07 17:37:38 -07:00
parent c198029cb9
commit f635c64205
7 changed files with 28 additions and 15 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -115,6 +115,8 @@ public:

 	void renderScene();
 	void debugDraw(int debugDrawMode);
+    
+    void getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
 };

 #endif //B3_ROBOT_SIM_API_H