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

• ComponentBasedCommandBuilder

• JointVelocityCommandBuilder

• SE2VelocityCommandBuilder

Examples

• mobility_command.cpp