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leggedrobotics / SimBenchmark

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim
https://leggedrobotics.github.io/SimBenchmark/
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getLinkState alternatives? #8

Open eastskykang opened 6 years ago

eastskykang commented 6 years ago

From Erwin.

RAIFATALIF(!api->getLinkState(objectId_, linkId, &linkState), "getBasePositionAndOrientation failed");

This is a very expensive method and I will remove it from the API: it will compute forward kinematics >and also propagate velocities. Best to not use this, since 'stepSimulation' already does it. The other >getLinkState has an explicit parameter to not compute those things again and again.