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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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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2372,8 +2372,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (-1 != tree->setGravityInWorldFrame(id_grav) &&
-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
serverCmd.m_jacobianResultArgs.m_bodyUniqueId = clientCmd.m_calculateJacobianArguments.m_bodyUniqueId;
serverCmd.m_jacobianResultArgs.m_linkIndex = clientCmd.m_calculateJacobianArguments.m_linkIndex;
serverCmd.m_jacobianResultArgs.m_dofCount = num_dofs;
// Set jacobian value
tree->calculateJacobians(q);