ArmCommandBuilder

rb::ArmCommandBuilder selects one arm-scoped command mode. It is the leaf composition type used for the left or right arm within a split body command.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Wrap one arm-scoped primitive command.

Public Member Functions

Method group	Purpose	Notes
converting constructors	Construct directly from one arm primitive.	Supports joint-position, cartesian, impedance, and gravity-compensation primitives.
SetCommand(...)	Replace the active primitive arm command.	Use before inserting into BodyComponentBasedCommandBuilder.

Detailed Reference

class ArmCommandBuilder

Public Functions

ArmCommandBuilder()

ArmCommandBuilder(const CartesianCommandBuilder &builder)

ArmCommandBuilder(const CartesianImpedanceControlCommandBuilder &builder)

ArmCommandBuilder(const GravityCompensationCommandBuilder &builder)

ArmCommandBuilder(const ImpedanceControlCommandBuilder &builder)

ArmCommandBuilder(const JointImpedanceControlCommandBuilder &builder)

ArmCommandBuilder(const JointPositionCommandBuilder &builder)

~ArmCommandBuilder()

ArmCommandBuilder &SetCommand(const CartesianCommandBuilder &builder)

ArmCommandBuilder &SetCommand(const CartesianImpedanceControlCommandBuilder &builder)

ArmCommandBuilder &SetCommand(const GravityCompensationCommandBuilder &builder)

ArmCommandBuilder &SetCommand(const ImpedanceControlCommandBuilder &builder)

ArmCommandBuilder &SetCommand(const JointImpedanceControlCommandBuilder &builder)

ArmCommandBuilder &SetCommand(const JointPositionCommandBuilder &builder)

Related Types

• BodyComponentBasedCommandBuilder

• JointPositionCommandBuilder

• CartesianCommandBuilder

• ImpedanceControlCommandBuilder

Examples

• demo_motion.cpp

• gravity_compensation.cpp