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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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35
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2665,7 +2665,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> q_new;
q_new.resize(numDofs);
int ikMethod= (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)? IK2_VEL_DLS_WITH_ORIENTATION : IK2_VEL_DLS;
int ikMethod = 0;
if (clientCmd.m_updateFlags& (IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY))
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
}
else if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
}
else if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
{
ikMethod = IK2_VEL_DLS_WITH_NULLSPACE;
}
else
{
ikMethod = IK2_VEL_DLS;
}
if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
{
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;
btAlignedObjectArray<double> joint_range;
lower_limit.resize(numDofs);
upper_limit.resize(numDofs);
joint_range.resize(numDofs);
for (int i = 0; i < numDofs; ++i)
{
lower_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_lowerLimit[i];
upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0]);
}
}
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;