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If you have a doubt because the documentation isn't precise enough, just check the code directly on Bitbucket:


For position PIDs, here is how it uses the common::PID class and the SetForce() function:

double cmd = this->dataPtr->posPids[iter->first].Update(this->dataPtr->joints[iter->first]->GetAngle(0).Radian() -  iter->second, stepTime);
this->dataPtr->joints[iter->first]->SetForce(0, cmd);