JointVelocityCommandBuilder#

rb::JointVelocityCommandBuilder is the joint-space velocity primitive for mobility or other velocity-mode command paths.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a joint-velocity target plus optional timing and acceleration data.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetVelocity(...)`	Set the target joint velocity vector.	This is the main payload.
`SetMinimumTime(...)` and `SetAccelerationLimit(...)`	Set timing and acceleration limits.	Useful for smooth velocity transitions.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetMinimumTime(minimum_time)`	`s`	Minimum ramp duration toward the target velocity.
`SetVelocity(velocity)`	`rad/s`	Per-joint target velocities.
`SetAccelerationLimit(acceleration_limit)`	`rad/s^2`	Per-joint acceleration limits for the ramp.

Detailed Reference

class JointVelocityCommandBuilder#

Public Functions

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

JointVelocityCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

Related Types

Examples