BodyCommandBuilder¶

rb::BodyCommandBuilder holds one body-scoped command. It can wrap one primitive body command directly or hold a split torso-and-arms composition through BodyComponentBasedCommandBuilder.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold one body-level command mode beneath the component-based tree.

Public Member Functions

Method group	Purpose	Notes
converting constructors	Construct from a body primitive or from `BodyComponentBasedCommandBuilder`.	Supports joint, cartesian, impedance, gravity, and optimal-control modes.
`SetCommand(...)`	Replace the active body command mode.	Use before embedding in `ComponentBasedCommandBuilder`.

Detailed Reference

class BodyCommandBuilder¶

Public Functions

BodyCommandBuilder()¶

BodyCommandBuilder(const BodyComponentBasedCommandBuilder &builder)¶

BodyCommandBuilder(const CartesianCommandBuilder &builder)¶

BodyCommandBuilder(const CartesianImpedanceControlCommandBuilder &builder)¶

BodyCommandBuilder(const GravityCompensationCommandBuilder &builder)¶

BodyCommandBuilder(const JointImpedanceControlCommandBuilder &builder)¶

BodyCommandBuilder(const JointPositionCommandBuilder &builder)¶

BodyCommandBuilder(const OptimalControlCommandBuilder &builder)¶

~BodyCommandBuilder()¶

BodyCommandBuilder &SetCommand(const BodyComponentBasedCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const CartesianCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const CartesianImpedanceControlCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const GravityCompensationCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const JointImpedanceControlCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const JointPositionCommandBuilder &builder)¶

BodyCommandBuilder &SetCommand(const OptimalControlCommandBuilder &builder)¶

Related Types

Examples

demo_motion.cpp
optimal_control.cpp