TorsoCommandBuilder#

rb::TorsoCommandBuilder selects one torso-scoped command mode. It supports the broadest set of body primitives because torso motion can be driven by joint groups, Cartesian targets, impedance, gravity compensation, or optimal control.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Wrap one torso-scoped primitive command.

Public Member Functions

Method group	Purpose	Notes
converting constructors	Construct directly from one torso primitive.	Supports joint-position, joint-group-position, cartesian, impedance, gravity-compensation, and optimal-control builders.
`SetCommand(...)`	Replace the active torso primitive command.	Use before inserting into `BodyComponentBasedCommandBuilder`.

Detailed Reference

class TorsoCommandBuilder#

Public Functions

TorsoCommandBuilder()#

TorsoCommandBuilder(const CartesianCommandBuilder &builder)#

TorsoCommandBuilder(const CartesianImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder(const GravityCompensationCommandBuilder &builder)#

TorsoCommandBuilder(const ImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder(const JointGroupPositionCommandBuilder &builder)#

TorsoCommandBuilder(const JointImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder(const JointPositionCommandBuilder &builder)#

TorsoCommandBuilder(const OptimalControlCommandBuilder &builder)#

~TorsoCommandBuilder()#

TorsoCommandBuilder &SetCommand(const CartesianCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const CartesianImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const GravityCompensationCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const ImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const JointGroupPositionCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const JointImpedanceControlCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const JointPositionCommandBuilder &builder)#

TorsoCommandBuilder &SetCommand(const OptimalControlCommandBuilder &builder)#

Related Types

Examples

demo_motion.cpp
optimal_control.cpp