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https://github.com/bulletphysics/bullet3
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ab8f16961e
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
20 lines
720 B
C++
20 lines
720 B
C++
#ifndef MINITAUR_SIMULATION_SETUP_H
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#define MINITAUR_SIMULATION_SETUP_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btQuaternion.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 btVector3& startPos = btVector3(0, 0, 0), const class btQuaternion& startOrn = btQuaternion(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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