added zerotorque mode

source/RobotAPI/components/units/RobotUnit/ControlModes.h

@@ -31,6 +31,7 @@ namespace armarx
         //'normal' actor modes
         static const std::string Position1DoF = "ControlMode_Position1DoF";
         static const std::string Torque1DoF   = "ControlMode_Torque1DoF";
+        static const std::string ZeroTorque1DoF   = "ControlMode_ZeroTorque1DoF";
         static const std::string Velocity1DoF = "ControlMode_Velocity1DoF";
         static const std::string Current1DoF = "ControlMode_Current1DoF";
 

source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h

@@ -63,8 +63,11 @@ namespace armarx
     make_ControlTarget1DoFActuator(ControlTarget1DoFActuatorPosition, position, ControlModes::Position1DoF);
     make_ControlTarget1DoFActuator(ControlTarget1DoFActuatorVelocity, velocity, ControlModes::Velocity1DoF);
     make_ControlTarget1DoFActuator(ControlTarget1DoFActuatorTorque, torque, ControlModes::Torque1DoF);
+    make_ControlTarget1DoFActuator(ControlTarget1DoFActuatorZeroTorque, torque, ControlModes::ZeroTorque1DoF);
     make_ControlTarget1DoFActuator(ControlTarget1DoFActuatorCurrent, current, ControlModes::Current1DoF);
 
+
+
     class ControlTarget1DoFActuatorTorqueVelocity: public ControlTarget1DoFActuatorVelocity
     {
     public: