ComponentBasedCommandBuilder

rb::ComponentBasedCommandBuilder composes commands across major robot subsystems. Use it when one request must contain body, head, or mobility commands together.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Compose body, head, and mobility subcommands into one request.

Public Member Functions

Method	Purpose	Notes
SetBodyCommand(...)	Attach the body command subtree.	Usually the largest part of the request.
SetHeadCommand(...)	Attach a head command.	Typically a joint-position request.
SetMobilityCommand(...)	Attach a mobility command.	Useful for mobile-base variants.

Detailed Reference

class ComponentBasedCommandBuilder

Public Functions

ComponentBasedCommandBuilder()

~ComponentBasedCommandBuilder()

ComponentBasedCommandBuilder &SetBodyCommand(const BodyCommandBuilder &builder)

ComponentBasedCommandBuilder &SetHeadCommand(const HeadCommandBuilder &builder)

ComponentBasedCommandBuilder &SetMobilityCommand(const MobilityCommandBuilder &builder)

Related Types

• RobotCommandBuilder

• BodyCommandBuilder

• HeadCommandBuilder

• MobilityCommandBuilder

Examples

• demo_motion.cpp

• mobility_command.cpp