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expose a maximum velocity due to the joint motor in position control.

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see also pybullet/examples/motorMaxVelocity.py
this fixes issue 1444
This commit is contained in:
erwincoumans
2017-11-21 17:05:28 -08:00
parent 3f60be59ad
commit ab843b26f0
6 changed files with 42 additions and 4 deletions
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4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -358,10 +358,11 @@ struct SendDesiredStateArgs
{
int m_bodyUniqueId;
int m_controlMode;
//PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_rhsClamp[MAX_DEGREE_OF_FREEDOM];
int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM];
@@ -389,6 +390,7 @@ enum EnumSimDesiredStateUpdateFlags
SIM_DESIRED_STATE_HAS_KD=4,
SIM_DESIRED_STATE_HAS_KP=8,
SIM_DESIRED_STATE_HAS_MAX_FORCE=16,
SIM_DESIRED_STATE_HAS_RHS_CLAMP=32
};