From 9de78ab6b38a745d8c689d3a0bcf39cdc77da574 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 6 Jul 2020 22:57:03 -0700 Subject: [PATCH] fix array size in inverse kinematics orientation command bump up shared memory version, since this was a potentially incompatible change --- examples/SharedMemory/SharedMemoryCommands.h | 2 +- examples/SharedMemory/SharedMemoryPublic.h | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 4df72e31a..6150874c9 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -783,7 +783,7 @@ struct CalculateInverseKinematicsArgs // double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM]; double m_targetPositions[MAX_DEGREE_OF_FREEDOM*3]; int m_numEndEffectorLinkIndices; - double m_targetOrientation[4]; //orientation represented as quaternion, x,y,z,w + double m_targetOrientation[MAX_DEGREE_OF_FREEDOM*4]; //orientation represented as quaternion, x,y,z,w int m_endEffectorLinkIndices[MAX_DEGREE_OF_FREEDOM]; double m_lowerLimit[MAX_DEGREE_OF_FREEDOM]; double m_upperLimit[MAX_DEGREE_OF_FREEDOM]; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index cb94ec75b..b1689c0b3 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -7,7 +7,10 @@ //Please don't replace an existing magic number: //instead, only ADD a new one at the top, comment-out previous one -#define SHARED_MEMORY_MAGIC_NUMBER 202005070 + + +#define SHARED_MEMORY_MAGIC_NUMBER 202007060 +//#define SHARED_MEMORY_MAGIC_NUMBER 202005070 //#define SHARED_MEMORY_MAGIC_NUMBER 202002030 //#define SHARED_MEMORY_MAGIC_NUMBER 202001230 //#define SHARED_MEMORY_MAGIC_NUMBER 201911280