ControlInput & ControlState#

rb::ControlInput<T> and rb::ControlState<T> are the data structs passed through Robot::Control(). ControlState<T> carries the current measured state into the callback and ControlInput<T> carries the next control output back to the robot.

Header

#include <rby1-sdk/robot.h>

Declaration

Namespace	`rb`
Kind	`struct template` family
Primary role	Carry measured state into the real-time callback and the generated command output back out.

Public Attributes

Struct	Main fields	Description
`rb::ControlState<T>`	`t`, `position`, `velocity`, `current`, `torque`, `is_ready`	Measured state snapshot passed into the real-time callback.
`rb::ControlInput<T>`	`target`, `feedback_gain`, `feedforward_torque`, `mode`, `finish`	Outgoing control command returned from the callback.

Units & Encodings

Field	Unit / encoding	Notes
`ControlState::t`	`s`	Real-time callback timestamp.
`ControlState::position`	`rad`	Measured joint positions in model order.
`ControlState::velocity`	`rad/s`	Measured joint velocities in model order.
`ControlState::current`	`A`	Measured joint currents.
`ControlState::torque`	`Nm`	Measured joint torques.
`ControlInput::target`	`rad`	Commanded joint targets returned from the callback.
`ControlInput::feedback_gain`	Dimensionless	Integer gain value per joint. The public C++ headers do not define a fixed range.
`ControlInput::feedforward_torque`	`Nm`	Joint feedforward torque term.

Detailed Reference

template<typename T> struct ControlState#

Robot control state information.

Represents the current state of robot real-time control including position, velocity, and torque.

Template Parameters:: T – Robot model type

Public Members

Eigen::Vector<double, T::kRobotDOF> current = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Current joint currents [A].

Eigen::Vector<bool, T::kRobotDOF> is_ready = {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}#: Whether the joint is ready for control.

Eigen::Vector<double, T::kRobotDOF> position = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Current joint positions [rad].

double t = {0.}#: Current time [s].

Eigen::Vector<double, T::kRobotDOF> torque = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Current joint torques [Nm].

Eigen::Vector<double, T::kRobotDOF> velocity = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Current joint velocities [rad/s].

template<typename T> struct ControlInput#

Robot control input parameters.

Represents control input parameters for robot real-time control including mode, target, and gains.

Template Parameters:: T – Robot model type

Public Members

Eigen::Vector<unsigned int, T::kRobotDOF> feedback_gain = {Eigen::Vector<unsigned int, T::kRobotDOF>::Zero()}#: Feedback gains for each joint.

Eigen::Vector<double, T::kRobotDOF> feedforward_torque = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Feedforward torque for each joint [Nm].

bool finish = {false}#: Whether to finish the current control operation.

Eigen::Vector<bool, T::kRobotDOF> mode = {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}#: Control mode for each joint (boolean array).

Eigen::Vector<double, T::kRobotDOF> target = {Eigen::Vector<double, T::kRobotDOF>::Zero()}#: Target positions for each joint [rad].

Related Types

Examples

real_time_control_command.cpp is the canonical example for both structs.