RobotCommandBuilder

rb::RobotCommandBuilder is the outermost command envelope passed into Robot::SendCommand() and RobotCommandStreamHandler::SendCommand(). It wraps one top-level command path: whole-body, component-based, or jog.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Hold the top-level command tree submitted through the client.

Public Member Functions

Method group	Purpose	Notes
RobotCommandBuilder() and converting constructors	Construct the envelope directly from one top-level builder.	Supports whole-body, component-based, and jog paths.
SetCommand(...)	Replace the active top-level command.	Use before submission if the envelope is reused.

Detailed Reference

class RobotCommandBuilder

Public Functions

RobotCommandBuilder()

RobotCommandBuilder(const ComponentBasedCommandBuilder &builder)

RobotCommandBuilder(const JogCommandBuilder &builder)

RobotCommandBuilder(const WholeBodyCommandBuilder &builder)

~RobotCommandBuilder()

RobotCommandBuilder &SetCommand(const ComponentBasedCommandBuilder &builder)

RobotCommandBuilder &SetCommand(const JogCommandBuilder &builder)

RobotCommandBuilder &SetCommand(const WholeBodyCommandBuilder &builder)

Related Types

• WholeBodyCommandBuilder

• ComponentBasedCommandBuilder

• JogCommandBuilder

Examples

• demo_motion.cpp

• stop_command.cpp