SE2VelocityCommandBuilder#

rb::SE2VelocityCommandBuilder is the planar-base velocity primitive. It is the natural fit for mobile-base requests expressed as planar translation plus yaw rate.

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold a planar base velocity target and its limits.

Public Member Functions

Method	Purpose	Notes
`SetCommandHeader(...)`	Attach shared header metadata.	Uses CommandHeaderBuilder.
`SetVelocity(...)`	Set the planar linear and angular velocity command.	The main mobility payload.
`SetMinimumTime(...)` and `SetAccelerationLimit(...)`	Set timing and acceleration limits.	Useful for bounded base accelerations.

Key Numeric Parameters

Method	Unit / encoding	Notes
`SetMinimumTime(minimum_time)`	`s`	Minimum ramp duration.
`SetVelocity(linear, angular)`	`m/s`, `rad/s`	`linear` is planar `[vx, vy]`. `angular` is yaw rate.
`SetAccelerationLimit(linear, angular)`	`m/s^2`, `rad/s^2`	Maximum planar and yaw acceleration values.

Detailed Reference

class SE2VelocityCommandBuilder#

Public Functions

SE2VelocityCommandBuilder()#

~SE2VelocityCommandBuilder()#

SE2VelocityCommandBuilder &SetAccelerationLimit(const Eigen::Vector2d &linear, double angular)#

SE2VelocityCommandBuilder &SetCommandHeader(const CommandHeaderBuilder &builder)#

SE2VelocityCommandBuilder &SetMinimumTime(double minimum_time)#

SE2VelocityCommandBuilder &SetVelocity(const Eigen::Vector2d &linear, double angular)#

Related Types

Examples

mobility_command.cpp