BodyComponentBasedCommandFeedback

rb::BodyComponentBasedCommandFeedback is the split body branch that exposes independent feedback for the left arm, right arm, and torso.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Hold the split torso-and-arms body feedback branch.

Public Member Functions

Method	Purpose	Notes
left_arm_command() const	Access the left-arm feedback subtree.	Valid when the split body command addressed the left arm.
right_arm_command() const	Access the right-arm feedback subtree.	Valid when the split body command addressed the right arm.
torso_command() const	Access the torso feedback subtree.	Valid when the split body command addressed the torso.

Detailed Reference

class BodyComponentBasedCommandFeedback : public rb::CommandFeedback

Public Functions

inline const ArmCommandFeedback &left_arm_command() const

inline const ArmCommandFeedback &right_arm_command() const

inline const TorsoCommandFeedback &torso_command() const

Related Types

• BodyCommandFeedback

• ArmCommandFeedback

• TorsoCommandFeedback

Examples

• demo_motion.cpp

• gravity_compensation.cpp