MobilityCommandBuilder#

rb::MobilityCommandBuilder selects one mobility-scoped command mode. Use it for wheel-joint velocity or planar-base velocity requests.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace

rb

Kind

class

Primary role

Wrap one mobility primitive command.

Public Member Functions

Method group

Purpose

Notes

converting constructors

Construct directly from a joint-velocity or SE2-velocity primitive.

These are the only mobility primitives.

SetCommand(...)

Replace the active mobility primitive.

Use before inserting into ComponentBasedCommandBuilder.

Detailed Reference

class MobilityCommandBuilder#

Public Functions

MobilityCommandBuilder()#
MobilityCommandBuilder(const JointVelocityCommandBuilder &builder)#
MobilityCommandBuilder(const SE2VelocityCommandBuilder &builder)#
~MobilityCommandBuilder()#
MobilityCommandBuilder &SetCommand(const JointVelocityCommandBuilder &builder)#
MobilityCommandBuilder &SetCommand(const SE2VelocityCommandBuilder &builder)#

Related Types

Examples

  • mobility_command.cpp