BodyCommandFeedback

rb::BodyCommandFeedback is the body-scoped branch of the feedback tree. It matches the body-level command modes available under BodyCommandBuilder.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Hold the body branch of the feedback tree and expose the active leaf.

Public Member Functions

Method	Purpose	Notes
body_component_based_command() const	Access the split torso-and-arms subtree.	Valid when the body command was decomposed.
joint_position_command() const, cartesian_command() const, cartesian_impedance_control_command() const	Access the main body motion leaves.	Use the accessor that matches the body command mode.
joint_impedance_control_command() const, gravity_compensation_command() const, optimal_control_command() const	Access the remaining body command leaves.	Covers compliance, compensation, and optimization paths.

Detailed Reference

class BodyCommandFeedback : public rb::CommandFeedback

Public Functions

inline const BodyComponentBasedCommandFeedback &body_component_based_command() const

inline const CartesianCommandFeedback &cartesian_command() const

inline const CartesianImpedanceControlCommandFeedback &cartesian_impedance_control_command() const

inline const GravityCompensationCommandFeedback &gravity_compensation_command() const

inline const JointImpedanceControlCommandFeedback &joint_impedance_control_command() const

inline const JointPositionCommandFeedback &joint_position_command() const

inline const OptimalControlCommandFeedback &optimal_control_command() const

Related Types

• ComponentBasedCommandFeedback

• BodyComponentBasedCommandFeedback

• CartesianCommandFeedback

Examples

• demo_motion.cpp

• optimal_control.cpp