.. _auto_set_singular_handling_force:

set_singular_handling_force (Auto Mode)
--------------------------------------------
This function configures the robot's **singularity handling policy for force and compliance control**  
during **Auto mode operation**.

When a singularity is detected, force or compliance control may become unstable due to  
ill-conditioned Jacobian matrices. This function determines whether force-based commands  
are **rejected with an error** or **allowed to proceed** in such situations.

By default, force or compliance control is rejected within singularity regions  
to ensure safe and conservative operation.

**Available modes**

- SINGULARITY_ERROR: Generates an error when force or compliance control is executed within a singularity region (**default**). |br|
- SINGULARITY_IGNORE: Ignores singularity-related restrictions and allows force or compliance control to proceed.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 987)

.. code-block:: cpp

    bool set_singularity_handling_force(SINGULARITY_FORCE_HANDLING eMode) {
        return _set_singular_handling_force(_rbtCtrl, eMode);
    };

**Parameter**

.. list-table::
   :widths: 22 20 18 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eMode
     - :ref:`SINGULARITY_FORCE_HANDLING <enum_singularity_force_handling>`
     - SINGULARITY_ERROR
     - Sets the singularity handling policy for force and compliance control.

**Return**

.. list-table::
   :widths: 20 80
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Failed to update singularity handling policy for force control.
   * - 1
     - Successfully applied the new singularity handling policy for force control.

**Example**

.. code-block:: cpp

      CDRFLEx drfl;

       // Move to a near-singular joint pose (example)
       float q_sing[6] = { 0.0f, -40.0f, 80.0f, 0.0f, 40.0f, 0.0f };
       drfl.movej(q_sing, 10.0f, 10.0f);

       // Enable task compliance control
       float stiffness[6] = { 100.f, 100.f, 100.f, 20.f, 20.f, 20.f };
       drfl.task_compliance_ctrl(stiffness);

       // Desired force (example: Z- direction)
       float fd[6]   = { 0.f, 0.f, -10.0f, 0.f, 0.f, 0.f };
       unsigned char fdir[6] = { 0, 0, 1, 0, 0, 0 };

       // CASE 1
       drfl.set_singular_handling_force(SINGULARITY_ERROR);
       drfl.set_desired_force(fd, fdir);
       // Force control is rejected in singularity regions

       // CASE 2
       drfl.set_singular_handling_force(SINGULARITY_IGNORE);
       drfl.set_desired_force(fd, fdir);
       // Force control is allowed near singularity regions (use with caution)

       drfl.release_compliance_ctrl();
   }

This example demonstrates how to configure the singularity handling strategy  
for **force and compliance control** in Auto mode.  
Allowing force control near singular regions may increase task flexibility,  
but should be used with caution due to potential instability or inaccurate force estimation.