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master
examples/SharedMemory/IKTrajectoryHelper.h
44 строки
1 KB
Erwin Coumans
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations)
11 июл 2019, 03:21
11 июл 2019, 03:21
ee95751
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#ifndef IK_TRAJECTORY_HELPER_H #define IK_TRAJECTORY_HELPER_H enum IK2_Method { IK2_JACOB_TRANS = 0, IK2_PURE_PSEUDO, IK2_DLS, IK2_SDLS, IK2_DLS_SVD, IK2_VEL_DLS, IK2_VEL_DLS_WITH_ORIENTATION, IK2_VEL_DLS_WITH_NULLSPACE, IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE, IK2_VEL_SDLS, IK2_VEL_SDLS_WITH_ORIENTATION, }; class IKTrajectoryHelper { struct IKTrajectoryHelperInternalData* m_data; public: IKTrajectoryHelper(); virtual ~IKTrajectoryHelper(); bool computeIK(const double endEffectorTargetPosition[3], const double endEffectorTargetOrientation[4], const double endEffectorWorldPosition[3], const double endEffectorWorldOrientation[4], const double* q_old, int numQ, int endEffectorIndex, double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]); bool computeIK2( const double* endEffectorTargetPositions, const double* endEffectorCurrentPositions, int numEndEffectors, const double* q_current, int numQ, double* q_new, int ikMethod, const double* linear_jacobians, const double dampIk[6]); bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose); bool setDampingCoeff(int numQ, const double* coeff); }; #endif //IK_TRAJECTORY_HELPER_H