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

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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -133,6 +133,8 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex);
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3]);
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4]);
void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double* lowerLimit, const double* upperLimit, const double* jointRange);
void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4], const double* lowerLimit, const double* upperLimit, const double* jointRange);
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,