OptimalControlCommandBuilder#

rb::OptimalControlCommandBuilder describes an optimal-control request that will be solved by the robot-side optimal-control path. It is the command-layer counterpart to OptimalControl.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold optimal-control targets and solver tuning parameters.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`AddCartesianTarget(...)` and `AddJointPositionTarget(...)`	Add task-space and joint-space objectives.	These define most of the optimization goal.
`SetCenterOfMassTarget(...)`	Add a COM objective.	Useful for balance or posture tasks.
`SetVelocityLimitScaling(...)`, `SetAccelerationLimitScaling(...)`, `SetErrorScaling(...)`	Tune scaling applied to the optimization problem.	Useful when adapting solver aggressiveness.
`SetPatience(...)` and `SetStopCost(...)`	Tune solver termination behavior.	Useful during iterative optimization tuning.

Key Numeric Parameters

Method	Unit / encoding	Notes
`AddCartesianTarget(..., T, translation_weight, rotation_weight)`	`SE(3)`, Dimensionless	`T` carries translation in meters. The two weights are objective weights.
`SetCenterOfMassTarget(..., pose, weight)`	`m`, Dimensionless	COM target position is a 3-vector in meters.
`AddJointPositionTarget(..., target_position, weight)`	`rad`, Dimensionless	Joint-space target plus its objective weight.
`SetErrorScaling(...)`, `SetVelocityLimitScaling(...)`, `SetAccelerationLimitScaling(...)`	Dimensionless	Internal optimization scalings. Proto comments document positive ranges for the limit-scaling terms.
`SetStopCost(...)`, `SetMinDeltaCost(...)`	Dimensionless	Objective thresholds used by solver termination logic.
`SetPatience(patience)`	Iteration count	Number of iterations tolerated without sufficient improvement.

Detailed Reference

class OptimalControlCommandBuilder#

Public Functions

OptimalControlCommandBuilder()#

~OptimalControlCommandBuilder()#

OptimalControlCommandBuilder &AddCartesianTarget(const std::string &ref_link_name, const std::string &link_name, const math::SE3::MatrixType &T, double translation_weight, double rotation_weight)#

OptimalControlCommandBuilder &AddJointPositionTarget(const std::string &joint_name, double target_position, double weight)#

OptimalControlCommandBuilder &SetAccelerationLimitScaling(double acceleration_limit_scaling)#

OptimalControlCommandBuilder &SetCenterOfMassTarget(const std::string &ref_link_name, const Eigen::Vector3d &pose, double weight)#

OptimalControlCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

OptimalControlCommandBuilder &SetErrorScaling(double error_scaling)#

OptimalControlCommandBuilder &SetMinDeltaCost(double min_delta_cost)#

OptimalControlCommandBuilder &SetPatience(int patience)#

OptimalControlCommandBuilder &SetStopCost(double stop_cost)#

OptimalControlCommandBuilder &SetVelocityLimitScaling(double velocity_limit_scaling)#

Related Types

Examples

optimal_control.cpp