raisim::ControlMode

namespace

Actuation modes of an ArticulatedSystem (see ArticulatedSystem::setControlMode()).

Enumerations

Type

#include <raisim/object/ArticulatedSystem/ArticulatedSystem.hpp>

enum Type : int

Actuation mode.

Enumerator	Value	Description
FORCE_AND_TORQUE	0	Only the feedforward generalized force (setGeneralizedForce()) is applied.
PD_PLUS_FEEDFORWARD_TORQUE		Implicit (stable) joint PD controller plus the feedforward generalized force.