CartesianImpedanceControlCommandFeedback

rb::CartesianImpedanceControlCommandFeedback is the leaf feedback type for Cartesian impedance requests.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report set-point, remaining time, and manipulability for a Cartesian impedance command.

Public Member Functions

Method	Purpose	Notes
set_position() const	Read the current set-position reference.	Useful when analyzing the commanded impedance target.
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	Unit / encoding	Notes
set_position()	rad	Joint-space setpoint vector used by the internal controller.
remain_time()	s	Estimated remaining settling time.
manipulability()	Dimensionless	Manipulability index from the Cartesian impedance path.

Detailed Reference

class CartesianImpedanceControlCommandFeedback : public rb::CommandFeedback

Public Functions

inline double manipulability() const

inline double remain_time() const

inline Eigen::VectorXd set_position() const

Related Types

• ArmCommandFeedback

• TorsoCommandFeedback

Examples

• gravity_compensation.cpp