ArmCommandFeedback#

rb::ArmCommandFeedback exposes the leaf feedback object for the active arm-scoped command mode.

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold the feedback branch for one arm command.

Public Member Functions

Method	Purpose	Notes
`joint_position_command() const`	Access the joint-position feedback leaf.	Valid for point-to-point arm motion.
`cartesian_command() const` and `cartesian_impedance_control_command() const`	Access task-space tracking or impedance feedback.	Use the accessor matching the submitted primitive.
`impedance_control_command() const`, `joint_impedance_control_command() const`, `gravity_compensation_command() const`	Access the remaining arm feedback leaves.	Covers compliance and compensation paths.

Detailed Reference

class ArmCommandFeedback : public rb::CommandFeedback #

Public Functions

inline const CartesianImpedanceControlCommandFeedback &cartesian_impedance_control_command() const#

inline const GravityCompensationCommandFeedback &gravity_compensation_command() const#

inline const ImpedanceControlCommandFeedback &impedance_control_command() const#

inline const JointImpedanceControlCommandFeedback &joint_impedance_control_command() const#

Related Types

Examples