Command Builder API

These pages cover the classes in robot_command_builder.h. Open the top-level envelope and composition builders first, then drill into the subsystem and primitive builders that actually hold command parameters.

Envelope & Composition Builders

Page	Main type	Description
CommandHeaderBuilder	rb::CommandHeaderBuilder	Shared command metadata such as control hold time.
RobotCommandBuilder	rb::RobotCommandBuilder	Outermost command envelope passed into Robot::SendCommand().
WholeBodyCommandBuilder	rb::WholeBodyCommandBuilder	Whole-robot stop and real-time bootstrap commands.
ComponentBasedCommandBuilder	rb::ComponentBasedCommandBuilder	Composition layer for body, head, and mobility subcommands.
BodyCommandBuilder	rb::BodyCommandBuilder	Body-level command or split torso-and-arms composition.
BodyComponentBasedCommandBuilder	rb::BodyComponentBasedCommandBuilder	Body-level composition for separate left-arm, right-arm, and torso commands.

Subsystem Builders

Page	Main type	Description
ArmCommandBuilder	rb::ArmCommandBuilder	Arm-scoped command wrapper.
TorsoCommandBuilder	rb::TorsoCommandBuilder	Torso-scoped command wrapper.
HeadCommandBuilder	rb::HeadCommandBuilder	Head joint-position command wrapper.
MobilityCommandBuilder	rb::MobilityCommandBuilder	Wheel-joint and planar-base command wrapper.

Primitive Builders

Page	Main type	Description
JointPositionCommandBuilder	rb::JointPositionCommandBuilder	Joint-space point-to-point motion primitive.
JointGroupPositionCommandBuilder	rb::JointGroupPositionCommandBuilder	Joint-space motion primitive for a named subset of joints.
JointImpedanceControlCommandBuilder	rb::JointImpedanceControlCommandBuilder	Joint-space impedance-control primitive.
ImpedanceControlCommandBuilder	rb::ImpedanceControlCommandBuilder	Task-space impedance-control primitive around one target transform.
CartesianCommandBuilder	rb::CartesianCommandBuilder	Cartesian target-tracking primitive with stop thresholds.
CartesianImpedanceControlCommandBuilder	rb::CartesianImpedanceControlCommandBuilder	Cartesian impedance primitive with nullspace and joint-limit terms.
JointVelocityCommandBuilder	rb::JointVelocityCommandBuilder	Joint-velocity command primitive.
SE2VelocityCommandBuilder	rb::SE2VelocityCommandBuilder	Planar-base velocity command primitive.
JogCommandBuilder	rb::JogCommandBuilder	Named-joint jogging command primitive.
StopCommandBuilder	rb::StopCommandBuilder	Explicit stop command primitive.
RealTimeControlCommandBuilder	rb::RealTimeControlCommandBuilder	Real-time control bootstrap primitive with a UDP port.
GravityCompensationCommandBuilder	rb::GravityCompensationCommandBuilder	Gravity-compensation enable or disable primitive.
OptimalControlCommandBuilder	rb::OptimalControlCommandBuilder	Optimal-control request primitive.