get_position_link_in_world()

Eigen::Vector3d upkie::cpp::interfaces::bullet::get_position_link_in_world ( b3RobotSimulatorClientAPI &  bullet, int  robot, int  link_index  )

inlinenoexcept

Get the position of a link frame in the world frame.

Parameters

[in]	bullet	Bullet client.
[in]	robot	Index of the robot to search.
[in]	link_index	Index of the link frame.

Returns

Link index if found, -1 otherwise.

Note

This function will recompute forward kinematics.