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Expose IK with null space task to shared memory API and RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-09-30 00:05:00 -07:00
parent 29f890ae10
commit fd3cb061cb
9 changed files with 124 additions and 7 deletions
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27
examples/RoboticsLearning/KukaGraspExample.cpp
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@@ -195,14 +195,37 @@ public:
ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION + B3_HAS_NULL_SPACE_VELOCITY;
ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
ikargs.m_endEffectorLinkIndex = 6;
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.32);
ikargs.m_lowerLimits.push_back(-1.6);
ikargs.m_lowerLimits.push_back(-2.4);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.32);
ikargs.m_upperLimits.push_back(1.6);
ikargs.m_upperLimits.push_back(2.4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(5.8);
ikargs.m_jointRanges.push_back(4);
ikargs.m_jointRanges.push_back(6);
ikargs.m_numDegreeOfFreedom = numJoints;
if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
{
//copy the IK result to the desired state of the motor/actuator