CartesianImpedanceControlCommandBuilder#

rb::CartesianImpedanceControlCommandBuilder is the most feature-rich task-space compliance primitive. It extends the Cartesian command path with joint limits, joint stiffness, nullspace targets, and reset behavior.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a Cartesian impedance request with richer task and nullspace data.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`AddTarget(...)` and `AddJointPositionTarget(...)`	Add task-space and optional joint-space targets.	`AddTarget(...)` is the main task-space API.
`AddJointLimit(...)`, `SetJointStiffness(...)`, `SetJointDampingRatio(...)`, `SetJointTorqueLimit(...)`	Configure nullspace and impedance terms.	These are the main additions over `CartesianCommandBuilder`.
`SetNullspaceJointTarget(...)` and `SetResetReference(...)`	Control nullspace bias and reference reset behavior.	Useful in long-running Cartesian tasks.
`SetMinimumTime(...)` and `SetStop*TrackingError(...)`	Set time and stop thresholds.	Covers position, orientation, and joint-position errors.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetMinimumTime(minimum_time)`	`s`	Minimum execution time.
`AddTarget(..., T, linear_velocity_limit, angular_velocity_limit, linear_acceleration_limit, angular_acceleration_limit)`	`SE(3)`, `m/s`, `rad/s`, `m/s^2`, `rad/s^2`	`T` carries translation in meters. Velocity and acceleration limits are internal solver bounds.
`AddJointPositionTarget(..., target_position, velocity_limit, acceleration_limit)`	`rad`, `rad/s`, `rad/s^2`	Auxiliary joint target used by the optimization stage.
`SetNullspaceJointTarget(target_position, weight, k_p, k_d, cost_weight)`	`rad`, Dimensionless, Not specified	`target_position` is joint-space. `weight` and `cost_weight` are optimization weights. Public docs do not assign units to `k_p` or `k_d`.
`SetStopPositionTrackingError(value)`	`m`	Stop threshold on translational error.
`SetStopOrientationTrackingError(value)`	`rad`	Stop threshold on rotational error.
`SetStopJointPositionTrackingError(value)`	`rad`	Stop threshold on joint-position error.
`SetJointStiffness(stiffness)`	`Nm/rad`	Per-joint stiffness values.
`SetJointTorqueLimit(torque_limit)`	`Nm`	Per-joint torque saturation values.
`SetJointDampingRatio(damping_ratio)`	Dimensionless	Joint damping ratio used to derive the damping matrix.

Detailed Reference

class CartesianImpedanceControlCommandBuilder#

Public Functions

CartesianImpedanceControlCommandBuilder()#

~CartesianImpedanceControlCommandBuilder()#

CartesianImpedanceControlCommandBuilder &AddJointLimit(const std::string &joint_name, double lower, double upper)#

CartesianImpedanceControlCommandBuilder &AddJointPositionTarget(const std::string &joint_name, double target_position, std::optional<double> velocity_limit = std::nullopt, std::optional<double> acceleration_limit = std::nullopt)#

CartesianImpedanceControlCommandBuilder &AddTarget(const std::string &ref_link_name, const std::string &link_name, const math::SE3::MatrixType &T, std::optional<double> linear_velocity_limit = std::nullopt, std::optional<double> angular_velocity_limit = std::nullopt, std::optional<double> linear_acceleration_limit = std::nullopt, std::optional<double> angular_acceleration_limit = std::nullopt)#

CartesianImpedanceControlCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

CartesianImpedanceControlCommandBuilder &SetJointDampingRatio(double damping_ratio)#

CartesianImpedanceControlCommandBuilder &SetJointStiffness(const Eigen::VectorXd &stiffness)#

CartesianImpedanceControlCommandBuilder &SetJointTorqueLimit(const Eigen::VectorXd &torque_limit)#

CartesianImpedanceControlCommandBuilder &SetMinimumTime(double minium_time)#

CartesianImpedanceControlCommandBuilder &SetNullspaceJointTarget(const Eigen::VectorXd &target_position, const Eigen::VectorXd &weight, std::optional<double> k_p = std::nullopt, std::optional<double> k_d = std::nullopt, std::optional<double> cost_weight = std::nullopt)#

CartesianImpedanceControlCommandBuilder &SetResetReference(bool reset_reference)#

CartesianImpedanceControlCommandBuilder &SetStopJointPositionTrackingError(double stop_joint_position_tracking_error)#

CartesianImpedanceControlCommandBuilder &SetStopOrientationTrackingError(double stop_orientation_tracking_error)#

CartesianImpedanceControlCommandBuilder &SetStopPositionTrackingError(double stop_position_tracking_error)#

Related Types

Examples

gravity_compensation.cpp