Enum rubullet::ControlModeArray

pub enum ControlModeArray<'a> {
    Positions(&'a [f64]),
    PositionsWithPd {
        target_positions: &'a [f64],
        target_velocities: &'a [f64],
        position_gains: &'a [f64],
        velocity_gains: &'a [f64],
    },
    Velocities(&'a [f64]),
    Torques(&'a [f64]),
    Pd {
        target_positions: &'a [f64],
        target_velocities: &'a [f64],
        position_gains: &'a [f64],
        velocity_gains: &'a [f64],
    },
}

Can be used in set_joint_motor_control_array(). It is basically the same as ControlMode but with arrays. See ControlMode for details.

Variants

Positions(&'a [f64])

Position Control with the desired joint positions.

PositionsWithPd

Same as Positions, but you can set your own gains

Fields of PositionsWithPd

target_positions: &'a [f64]

desired target positions

target_velocities: &'a [f64]

desired target velocities

position_gains: &'a [f64]

position gains

velocity_gains: &'a [f64]

velocity gains

Velocities(&'a [f64])

Velocity control with the desired joint velocities

Torques(&'a [f64])

Torque control with the desired joint torques.

Pd

PD Control

Fields of Pd

target_positions: &'a [f64]

desired target positions

target_velocities: &'a [f64]

desired target velocities

position_gains: &'a [f64]

position gains

velocity_gains: &'a [f64]

velocity gains