WholeBodyCommandBuilder

rb::WholeBodyCommandBuilder selects a whole-robot command mode. It is the compact path used for stop commands and for bootstrapping the real-time control channel.

Header

Header

#include <rby1-sdk/robot_command_builder.h>

Declaration

Namespace	rb
Kind	class
Primary role	Hold one whole-body command beneath RobotCommandBuilder.

Public Member Functions

Method group	Purpose	Notes
converting constructors	Construct directly from StopCommandBuilder or RealTimeControlCommandBuilder.	The whole-body path only supports these two primitive modes.
SetCommand(...)	Replace the active whole-body primitive.	Reconfigure an existing builder instance.

Detailed Reference

class WholeBodyCommandBuilder

Public Functions

WholeBodyCommandBuilder()

WholeBodyCommandBuilder(const RealTimeControlCommandBuilder &builder)

WholeBodyCommandBuilder(const StopCommandBuilder &builder)

~WholeBodyCommandBuilder()

WholeBodyCommandBuilder &SetCommand(const RealTimeControlCommandBuilder &builder)

WholeBodyCommandBuilder &SetCommand(const StopCommandBuilder &builder)

Related Types

• RobotCommandBuilder

• StopCommandBuilder

• RealTimeControlCommandBuilder

Examples

• stop_command.cpp

• real_time_control_command.cpp