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

Examples

  • demo_motion.cpp

  • gravity_compensation.cpp