JogCommandBuilder#

rb::JogCommandBuilder creates a named-joint jog request. It is separate from the main body, head, or mobility builder trees because it addresses one joint by name and one jog mode at a time.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a single named-joint jog command.

Member Types

Type	Purpose	Notes
`AbsolutePosition`	Jog to an explicit absolute position.	One of the three jog modes.
`RelativePosition`	Jog by an offset from the current position.	Useful for operator-driven increments.
`OneStep`	Perform one incremental step.	In the C++ API this carries a direction flag; the public header does not expose a step magnitude.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)` and `SetJointName(...)`	Attach header metadata and choose the target joint.	Both are required for a meaningful jog request.
`SetCommand(...)`	Choose the jog mode.	Accepts `AbsolutePosition`, `RelativePosition`, or `OneStep`.
`SetVelocityLimit(...)` and `SetAccelerationLimit(...)`	Bound the jog motion.	Useful in operator-facing tooling.

Key Numeric Parameters

Method or value type	Unit / encoding	Notes
`SetVelocityLimit(value)`	`rad/s`	Maximum joint velocity during the jog.
`SetAccelerationLimit(value)`	`rad/s^2`	Maximum joint acceleration during the jog.
`AbsolutePosition(value)`	`rad`	Absolute joint-angle target.
`RelativePosition(value)`	`rad`	Relative joint-angle offset.
`OneStep(value)`	Direction flag	The C++ public header exposes `bool value()`. A physical step size is not specified there.