[ODE] how to use dJointGetFeedback function ?

[Cristian Bianchi]

Hi
to use Feedback features you must first declare a dJointFeedback variable
and assign a pointer to it with your joint object.

dJointFeedback feedback;
dJointSetFeedback( joint, &feedback );

then after each simulation step you can you use the

dJointFeedback*  fb =  dJointGetFeedback( joint );

and then use the fields of the variable to retrieve forces and torques
acting on the joint...

typedef struct dJointFeedback {
  dVector3 f1;       // force that joint applies to body 1
  dVector3 t1;       // torque that joint applies to body 1
  dVector3 f2;       // force that joint applies to body 2
  dVector3 t2;      // torque that joint applies to body 2
} dJointFeedback;

cheers
cristian

----- Original Message ----- 
From: 강태훈
To: ode at q12.org
Sent: Thursday, August 05, 2004 8:55 AM
Subject: [ODE] how to use dJointGetFeedback function ?


Hi all.

I'm Kang in south korea.

>From January, I have tried for my project.

I want to measure joint torque applied between thigh and tibia of my robot
limb.

My problem is how to use dJointGetFeedback function ?

I searched web site and mailing list for dJointGetFeedback.

But I cannot find answer.

I want to get some example program or code.

Please yours answer.




Taehun Kang
Intelligent Robotics and Mechatronic System Lab.
School of Mechanical Engineering,
Sungkyunkwan University,
Chunchun-dong 300, Jangan-gu, Suwon,
Kyunggi-do, 440-746
http://mecha.skku.ac.kr/~ka1943
Tel: +82-31-290-7481
Fax: +82-31-290-7507
H.P: 019-386-1943



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