ImpedanceControlCommandBuilder#

rb::ImpedanceControlCommandBuilder expresses a task-space impedance request around one transform target. Use it when you want frame-based compliance without the larger Cartesian-impedance feature set.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a transform target plus translation and rotation impedance weights.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetReferenceLinkName(...)` and `SetLinkName(...)`	Choose the reference and target links.	These define the task-space frame pair.
`SetTransformation(...)`	Set the desired transform.	This is the main target.
`SetTranslationWeight(...)`, `SetRotationWeight(...)`, `SetDampingRatio(...)`	Tune compliance and damping.	These shape how errors are penalized.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetTransformation(T)`	`SE(3)`	Translation is carried in meters and rotation is encoded in the transform’s rotation block.
`SetTranslationWeight(weight)`	`N/m`	Per-axis translational stiffness values.
`SetRotationWeight(weight)`	`Nm/rad`	Per-axis rotational stiffness values.
`SetDampingRatio(damping_ratio)`	Dimensionless	Damping ratio used to build the Cartesian damping matrix.

Detailed Reference

class ImpedanceControlCommandBuilder#

Public Functions

ImpedanceControlCommandBuilder()#

~ImpedanceControlCommandBuilder()#

ImpedanceControlCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

ImpedanceControlCommandBuilder &SetDampingRatio(double damping_ratio)#

ImpedanceControlCommandBuilder &SetLinkName(const std::string &name)#

ImpedanceControlCommandBuilder &SetReferenceLinkName(const std::string &name)#

ImpedanceControlCommandBuilder &SetRotationWeight(const Eigen::Vector3d &weight)#

ImpedanceControlCommandBuilder &SetTransformation(const math::SE3::MatrixType &T)#

ImpedanceControlCommandBuilder &SetTranslationWeight(const Eigen::Vector3d &weight)#

Related Types

Examples

gravity_compensation.cpp