JointImpedanceControlCommandBuilder#

rb::JointImpedanceControlCommandBuilder expresses joint-space impedance control. It adds stiffness, damping, and torque limits around a joint-position target.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a joint-space impedance-control request.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetPosition(...)`	Set the target joint vector.	This is the nominal reference trajectory.
`SetStiffness(...)`, `SetDampingRatio(...)`, `SetTorqueLimit(...)`	Configure the impedance behavior.	These shape the compliance response.
`SetMinimumTime(...)`, `SetVelocityLimit(...)`, `SetAccelerationLimit(...)`	Attach timing and motion limits.	Useful for bounded transients.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetMinimumTime(minimum_time)`	`s`	Minimum execution time.
`SetPosition(position)`	`rad`	Joint-space target position vector.
`SetVelocityLimit(velocity_limit)`	`rad/s`	Per-joint velocity limits.
`SetAccelerationLimit(acceleration_limit)`	`rad/s^2`	Per-joint acceleration limits.
`SetStiffness(stiffness)`	`Nm/rad`	Diagonal joint-space stiffness values.
`SetTorqueLimit(torque_limit)`	`Nm`	Per-joint torque saturation limits.
`SetDampingRatio(damping_ratio)`	Dimensionless	Ratio used to derive the damping matrix.

Detailed Reference

class JointImpedanceControlCommandBuilder#

Public Functions

JointImpedanceControlCommandBuilder()#

~JointImpedanceControlCommandBuilder()#

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

JointImpedanceControlCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

JointImpedanceControlCommandBuilder &SetDampingRatio(double damping_ratio)#

JointImpedanceControlCommandBuilder &SetMinimumTime(double minimum_time)#

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

JointImpedanceControlCommandBuilder &SetStiffness(const Eigen::VectorXd &stiffness)#

JointImpedanceControlCommandBuilder &SetTorqueLimit(const Eigen::VectorXd &torque_limit)#

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

Related Types

Examples

gravity_compensation.cpp