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20 lines
720 B
C
20 lines
720 B
C
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#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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