JointPositionCommandBuilder#

rb::JointPositionCommandBuilder is the standard joint-space point-to-point motion primitive. It sets target position, minimum time, and optional velocity or acceleration limits.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a joint-space position target with timing and limit metadata.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetPosition(...)`	Set the target joint vector.	This is the main payload.
`SetMinimumTime(...)`	Set the requested minimum execution time.	Useful for time-scaling motion.
`SetVelocityLimit(...)` and `SetAccelerationLimit(...)`	Attach optional limits for the motion.	Adds optional per-command motion limits.

Key Numeric Parameters

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

Detailed Reference

class JointPositionCommandBuilder#

Public Functions

JointPositionCommandBuilder()#

~JointPositionCommandBuilder()#

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

JointPositionCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

JointPositionCommandBuilder &SetMinimumTime(double minimum_time)#

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

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

Related Types

Examples

demo_motion.cpp
kinematic_calibration.cpp