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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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4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -115,9 +115,9 @@ int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandl
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition);
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, int* bodyIndex, int* linkIndex, double* linearJacobian, double* angularJacobian);
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);