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bullet3/examples/SharedMemory/IKTrajectoryHelper.h

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preparation for KUKA IK tracking example
2016-08-30 21:44:11 +00:00
#ifndef IK_TRAJECTORY_HELPER_H
#define IK_TRAJECTORY_HELPER_H
enum IK2_Method
{
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
IK2_JACOB_TRANS = 0,
IK2_PURE_PSEUDO,
IK2_DLS,
IK2_SDLS,
IK2_DLS_SVD,
IK2_VEL_DLS,
fix InverseKinematics+API for a case without tree (custom build Jacobian)
2016-09-22 20:27:09 +00:00
IK2_VEL_DLS_WITH_ORIENTATION,
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
IK2_VEL_DLS_WITH_NULLSPACE,
IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE,
Expose IK solver options including DLS and SDLS.
2017-10-19 21:00:53 +00:00
IK2_VEL_SDLS,
IK2_VEL_SDLS_WITH_ORIENTATION,
preparation for KUKA IK tracking example
2016-08-30 21:44:11 +00:00
};
class IKTrajectoryHelper
{
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
struct IKTrajectoryHelperInternalData* m_data;
preparation for KUKA IK tracking example
2016-08-30 21:44:11 +00:00
public:
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
IKTrajectoryHelper();
virtual ~IKTrajectoryHelper();
Add IK damping coefficient vector.
2016-09-27 23:37:49 +00:00
bool computeIK(const double endEffectorTargetPosition[3],
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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]);
expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) usage example: jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
2019-07-11 00:21:18 +00:00
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]);
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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);
preparation for KUKA IK tracking example
2016-08-30 21:44:11 +00:00
};
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#endif //IK_TRAJECTORY_HELPER_H
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