.. _enum_singularity_force_handling:

SINGULARITY_FORCE_HANDLING
------------------------------------------
This enumeration defines whether force and compliance control is permitted within singularity regions, and is defined as follows.

.. list-table::
   :header-rows: 1
   :widths: 5 30 65

   * - Rank
     - Constant Name
     - Description

   * - 0
     - SINGULARITY_ERROR
     - Generates an error when force or compliance control is attempted within a singularity region.

   * - 1
     - SINGULARITY_IGNORE
     - Ignores singularity-related restrictions and allows force or compliance control to proceed.

**Defined in:** ``DRFC.h``  

.. code-block:: cpp

   typedef enum {
       SINGULARITY_ERROR = 0,
       SINGULARITY_IGNORE = 1,
   } SINGULARITY_FORCE_HANDLING;