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re-enable inverse dynamics/computed torque, instead of PD control in InverseDynamicsExample

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Erwin Coumans
2015-12-02 23:16:41 -08:00
parent 332017ff23
commit b22e968cdd
1 changed files with 1 additions and 1 deletions
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examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -43,7 +43,7 @@ subject to the following restrictions:
// as parameters and callbacks // as parameters and callbacks
static btScalar kp =10*10; static btScalar kp =10*10;
static btScalar kd = 2*10; static btScalar kd = 2*10;
static bool useInverseModel = false; static bool useInverseModel = true;
static std::vector<btScalar> qd; static std::vector<btScalar> qd;
static std::vector<std::string> qd_name; static std::vector<std::string> qd_name;
static std::vector<std::string> q_name; static std::vector<std::string> q_name;