Activation of IK Element
Posted: 13 Apr 2013, 01:02
Hi,
I would like to activate an IK Element by using "RegularAPI".
I could change some joint mode properties from force/torque mode to IK
mode, but I couldn't activate "Element is active" boxes in execution of
vrep simulation.
e.g.
REP_DLLEXPORT simInt simSetIkElementActive(simInt ikGroupHandle,simInt
tipDummyHandle,bool isActive)
{
...
CikGroup* it=ct::ikGroups->getIkGroup(ikGroupHandle);
...
CikEl* el=it->getIkElementWithTooltipID(tipDummyHandle);
...
el->setActive(isActive);
...
}
Is there any other way?
Thanks.
I would like to activate an IK Element by using "RegularAPI".
I could change some joint mode properties from force/torque mode to IK
mode, but I couldn't activate "Element is active" boxes in execution of
vrep simulation.
e.g.
REP_DLLEXPORT simInt simSetIkElementActive(simInt ikGroupHandle,simInt
tipDummyHandle,bool isActive)
{
...
CikGroup* it=ct::ikGroups->getIkGroup(ikGroupHandle);
...
CikEl* el=it->getIkElementWithTooltipID(tipDummyHandle);
...
el->setActive(isActive);
...
}
Is there any other way?
Thanks.