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| author | erwincoumans <erwin.coumans@gmail.com> | 2018-06-12 17:00:16 -0700 |
|---|---|---|
| committer | erwincoumans <erwin.coumans@gmail.com> | 2018-06-12 17:00:16 -0700 |
| commit | 08d84d6ce31d5f89cfd31425d38aa77be759979f (patch) | |
| tree | 6a9799cf179d792798aef9d782049e28d9ddeb0b | |
| parent | 4d6741f5cd8c1c5f6511d38161480e5ddcc21744 (diff) | |
| download | bullet3-08d84d6ce31d5f89cfd31425d38aa77be759979f.tar.gz | |
fix getLinkState usage
| -rw-r--r-- | examples/RoboticsLearning/GripperGraspExample.cpp | 5 | ||||
| -rw-r--r-- | examples/RoboticsLearning/KukaGraspExample.cpp | 4 |
2 files changed, 7 insertions, 2 deletions
diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 259ad229e..e907c9308 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -502,7 +502,10 @@ public: } // compute body position and orientation b3LinkState linkState; - m_robotSim.getLinkState(0, 6, &linkState); + bool computeVelocity=true; + bool computeForwardKinematics=true; + m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState); + m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]); m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]); diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp index a0da21621..04e102077 100644 --- a/examples/RoboticsLearning/KukaGraspExample.cpp +++ b/examples/RoboticsLearning/KukaGraspExample.cpp @@ -151,7 +151,9 @@ public: } // compute body position and orientation b3LinkState linkState; - m_robotSim.getLinkState(0, 6, &linkState); + bool computeVelocity=true; + bool computeForwardKinematics=true; + m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState); m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]); m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]); |