BodyComponentBasedCommandBuilder

rb::BodyComponentBasedCommandBuilder splits a body command into separate left-arm, right-arm, and torso branches. Use it when the torso and the two arms must each run their own command mode in one outer request.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Compose torso and arm commands inside one body command.

Public Member Functions

Method	Purpose	Notes
SetLeftArmCommand(...)	Attach the left-arm subtree.	Accepts ArmCommandBuilder.
SetRightArmCommand(...)	Attach the right-arm subtree.	Accepts ArmCommandBuilder.
SetTorsoCommand(...)	Attach the torso subtree.	Accepts TorsoCommandBuilder.

Detailed Reference

class BodyComponentBasedCommandBuilder

Public Functions

BodyComponentBasedCommandBuilder()

~BodyComponentBasedCommandBuilder()

BodyComponentBasedCommandBuilder &SetLeftArmCommand(const ArmCommandBuilder &builder)

BodyComponentBasedCommandBuilder &SetRightArmCommand(const ArmCommandBuilder &builder)

BodyComponentBasedCommandBuilder &SetTorsoCommand(const TorsoCommandBuilder &builder)

Related Types

• BodyCommandBuilder

• ArmCommandBuilder

• TorsoCommandBuilder

Examples

• demo_motion.cpp

• gravity_compensation.cpp