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Merge pull request #2914 from erwincoumans/master

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fix array size in inverse kinematics orientation command
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erwincoumans 2020-07-06 22:58:45 -07:00 committed by GitHub
commit d671fcad2f
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2 changed files with 5 additions and 2 deletions
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2
examples/SharedMemory/SharedMemoryCommands.h
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@ -783,7 +783,7 @@ struct CalculateInverseKinematicsArgs
// double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_targetPositions[MAX_DEGREE_OF_FREEDOM*3];
int m_numEndEffectorLinkIndices;
double m_targetOrientation[4]; //orientation represented as quaternion, x,y,z,w
double m_targetOrientation[MAX_DEGREE_OF_FREEDOM*4]; //orientation represented as quaternion, x,y,z,w
int m_endEffectorLinkIndices[MAX_DEGREE_OF_FREEDOM];
double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
double m_upperLimit[MAX_DEGREE_OF_FREEDOM];

5
examples/SharedMemory/SharedMemoryPublic.h
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@ -7,7 +7,10 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 202005070
#define SHARED_MEMORY_MAGIC_NUMBER 202007060
//#define SHARED_MEMORY_MAGIC_NUMBER 202005070
//#define SHARED_MEMORY_MAGIC_NUMBER 202002030
//#define SHARED_MEMORY_MAGIC_NUMBER 202001230
//#define SHARED_MEMORY_MAGIC_NUMBER 201911280