Merge pull request #1763 from YunfeiBai/master

Add the pdControlPlugin to the joint control C API, and add the PD co…
2018-06-16 06:57:50 -07:00
parent 5b3e43d4d8 1c0de3c4cb
commit d660042d76
6 changed files with 95 additions and 12 deletions
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -649,6 +649,7 @@ enum {
    CONTROL_MODE_VELOCITY=0,
    CONTROL_MODE_TORQUE,
    CONTROL_MODE_POSITION_VELOCITY_PD,
+    CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
 };

 ///flags for b3ApplyExternalTorque and b3ApplyExternalForce