ImpedanceControlCommandFeedback

rb::ImpedanceControlCommandFeedback is the leaf feedback type for the task-space impedance command path.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report task-space tracking error for an impedance-control command.

Member Types

Type	Purpose	Notes
TrackingError	Carry the task-space tracking error.	Returned by the main accessor on this page.

Public Member Functions

Method	Purpose	Notes
tracking_error() const	Read the task-space tracking error record.	Primary diagnostic accessor for compliance tracking quality.

Returned Values & Units

Accessor or field	Unit / encoding	Notes
TrackingError::position_error	m	Translational error magnitude.
TrackingError::rotation_error	rad	Rotational error magnitude.
tracking_error()	TrackingError	Bundles the two task-space error magnitudes above.

Detailed Reference

class ImpedanceControlCommandFeedback : public rb::CommandFeedback

Public Functions

inline const TrackingError &tracking_error() const

struct TrackingError

Public Members

double position_error

double rotation_error

Related Types

• ArmCommandFeedback

• TorsoCommandFeedback

Examples

• gravity_compensation.cpp