expose multibody link world transform in the shared memory API

2016-04-23 17:29:46 -07:00
parent 16cbc191bd
commit f99d1c45aa
5 changed files with 40 additions and 1 deletions
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -31,6 +31,7 @@
 #define MAX_NUM_SENSORS 256
 #define MAX_URDF_FILENAME_LENGTH 1024
 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
+#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM

 struct TmpFloat3 
 {
@@ -196,6 +197,7 @@ struct SendActualStateArgs
    double m_jointReactionForces[6*MAX_DEGREE_OF_FREEDOM];

    double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
+    double m_linkState[7*MAX_NUM_LINKS];
 };

 enum EnumSensorTypes