CommandHeaderBuilder

rb::CommandHeaderBuilder carries command-level metadata shared by many primitive builders. In practice it is the place to set hold-time behavior before embedding a primitive command in a higher-level builder.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Carry common command-header settings for downstream builders.

Public Member Functions

Method	Purpose	Notes
CommandHeaderBuilder()	Construct an empty command header.	Typically followed by one setter call.
SetControlHoldTime(...)	Set the control hold time attached to a command.	Reused by several primitive builder classes.

Key Numeric Parameters

Method	Unit / encoding	Notes
SetControlHoldTime(control_hold_time)	s	The hold time is serialized through google.protobuf.Duration in the command header proto.

Detailed Reference

class CommandHeaderBuilder

Public Functions

CommandHeaderBuilder()

~CommandHeaderBuilder()

CommandHeaderBuilder &SetControlHoldTime(double control_hold_time)

Related Types

• RobotCommandBuilder

• JointPositionCommandBuilder

• StopCommandBuilder

Examples

• demo_motion.cpp

• stop_command.cpp