CartesianCommandFeedback

rb::CartesianCommandFeedback is the leaf feedback type for Cartesian tracking commands.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report tracking errors, remaining time, and manipulability for a Cartesian command.

Member Types

Type	Purpose	Notes
TrackingError	Carry task-space tracking error data.	Used by the error accessor methods on this page.

Public Member Functions

Method	Purpose	Notes
se3_pose_tracking_errors() const and joint_position_tracking_errors() const	Read task-space and joint-space error signals.	Use to understand why a command stopped or slowed.
remain_time() const	Read the remaining commanded execution time.	Useful while tracking long motions.
manipulability() const	Read the reported manipulability value.	Useful for task-space feasibility inspection.

Returned Values & Units

Accessor or field	Unit / encoding	Notes
TrackingError::position_error	m	Translational task-space tracking error magnitude.
TrackingError::orientation_error	rad	Rotational tracking error magnitude.
se3_pose_tracking_errors()	TrackingError list	Per-target task-space error records.
joint_position_tracking_errors()	rad	Per-joint position tracking error magnitudes.
remain_time()	s	Estimated remaining time to reach the target set.
manipulability()	Dimensionless	Python binding docs describe this as a manipulability index.

Detailed Reference

class CartesianCommandFeedback : public rb::CommandFeedback

Public Functions

inline const std::vector<double> &joint_position_tracking_errors() const

inline double manipulability() const

inline double remain_time() const

inline const std::vector<TrackingError> &se3_pose_tracking_errors() const

struct TrackingError

Public Members

double orientation_error

double position_error

Related Types

• ArmCommandFeedback

• TorsoCommandFeedback

• BodyCommandFeedback

Examples

• demo_motion.cpp