JointGroupPositionCommandBuilder#

rb::JointGroupPositionCommandBuilder is the subset-joint variant of the joint-position primitive. It is most useful when the torso or another named joint group should move without commanding the full joint vector.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a joint-space target for an explicit named subset of joints.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetJointNames(...)` and `SetPosition(...)`	Define the addressed joint subset and its target positions.	The name order defines the value order.
`SetMinimumTime(...)`	Set the requested minimum execution time.	Useful for synchronized motion.
`SetVelocityLimit(...)` and `SetAccelerationLimit(...)`	Attach optional motion limits.	Useful when only a subset of joints moves.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetMinimumTime(minimum_time)`	`s`	Minimum execution time for the subset motion.
`SetPosition(position)`	`rad`	Per-joint target positions in the order defined by `SetJointNames(...)`.
`SetVelocityLimit(velocity_limit)`	`rad/s`	Optional per-joint velocity limits for the selected subset.
`SetAccelerationLimit(acceleration_limit)`	`rad/s^2`	Optional per-joint acceleration limits for the selected subset.

Detailed Reference

class JointGroupPositionCommandBuilder#

Public Functions

JointGroupPositionCommandBuilder()#

~JointGroupPositionCommandBuilder()#

JointGroupPositionCommandBuilder &SetAccelerationLimit(const Eigen::VectorXd &acceleration_limit)#

JointGroupPositionCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

JointGroupPositionCommandBuilder &SetJointNames(const std::vector<std::string> &joint_names)#

JointGroupPositionCommandBuilder &SetMinimumTime(double minimum_time)#

JointGroupPositionCommandBuilder &SetPosition(const Eigen::VectorXd &position)#

JointGroupPositionCommandBuilder &SetVelocityLimit(const Eigen::VectorXd &velocity_limit)#

Related Types

TorsoCommandBuilder

Examples

demo_motion.cpp