df0305462d
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
22 lines
718 B
C++
22 lines
718 B
C++
#ifndef MINITAUR_SIMULATION_SETUP_H
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#define MINITAUR_SIMULATION_SETUP_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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class MinitaurSetup
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{
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struct MinitaurSetupInternalData* m_data;
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void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
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public:
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MinitaurSetup();
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virtual ~MinitaurSetup();
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int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
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void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
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};
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#endif //MINITAUR_SIMULATION_SETUP_H
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