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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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2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -85,6 +85,7 @@ struct b3JointMotorArgs
enum b3InverseKinematicsFlags
{
B3_HAS_IK_TARGET_ORIENTATION=1,
B3_HAS_NULL_SPACE_VELOCITY=2,
};
struct b3RobotSimInverseKinematicArgs
@@ -96,6 +97,7 @@ struct b3RobotSimInverseKinematicArgs
double m_endEffectorTargetOrientation[4];
int m_endEffectorLinkIndex;
int m_flags;
int m_numDegreeOfFreedom;
b3AlignedObjectArray<double> m_lowerLimits;
b3AlignedObjectArray<double> m_upperLimits;
b3AlignedObjectArray<double> m_jointRanges;