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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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6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -395,7 +395,8 @@ enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_POSITION=1,
IK_HAS_TARGET_ORIENTATION=2,
//IK_HAS_CURRENT_JOINT_POSITIONS=4,//not used yet
IK_HAS_NULL_SPACE_VELOCITY=4,
//IK_HAS_CURRENT_JOINT_POSITIONS=8,//not used yet
};
struct CalculateInverseKinematicsArgs
@@ -405,6 +406,9 @@ struct CalculateInverseKinematicsArgs
double m_targetPosition[3];
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
int m_endEffectorLinkIndex;
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsResultArgs