Command Feedback API

These pages cover the classes in robot_command_feedback.h. Read the top-level feedback pages first, then drill into the composite or primitive feedback class that matches the command path you sent.

Base & Composite Feedback

Page	Main type	Description
Feedback	rb::Feedback	Common validity flag shared by all feedback objects.
CommandHeaderFeedback	rb::CommandHeaderFeedback	Header-level completion status.
CommandFeedback	rb::CommandFeedback	Shared base for all command result objects.
RobotCommandFeedback	rb::RobotCommandFeedback	Top-level status, finish code, and root feedback tree.
WholeBodyCommandFeedback	rb::WholeBodyCommandFeedback	Composite feedback for whole-body stop and real-time bootstrap requests.
ComponentBasedCommandFeedback	rb::ComponentBasedCommandFeedback	Composite feedback for body, head, and mobility child commands.
BodyCommandFeedback	rb::BodyCommandFeedback	Composite feedback for a body-level command or split body composition.
BodyComponentBasedCommandFeedback	rb::BodyComponentBasedCommandFeedback	Composite feedback for separate left-arm, right-arm, and torso child commands.
ArmCommandFeedback	rb::ArmCommandFeedback	Feedback wrapper for an arm-scoped command.
TorsoCommandFeedback	rb::TorsoCommandFeedback	Feedback wrapper for a torso-scoped command.
HeadCommandFeedback	rb::HeadCommandFeedback	Feedback wrapper for a head command.
MobilityCommandFeedback	rb::MobilityCommandFeedback	Feedback wrapper for mobility commands.

Primitive Feedback

Page	Main type	Description
StopCommandFeedback	rb::StopCommandFeedback	Leaf result for a stop command.
RealtimeControlCommandFeedback	rb::RealtimeControlCommandFeedback	Leaf result for the real-time bootstrap command.
SE2VelocityCommandFeedback	rb::SE2VelocityCommandFeedback	Leaf result for a planar-base velocity command.
JogCommandFeedback	rb::JogCommandFeedback	Leaf result for a jog command.
JointVelocityCommandFeedback	rb::JointVelocityCommandFeedback	Leaf result for a joint-velocity command.
JointPositionCommandFeedback	rb::JointPositionCommandFeedback	Progress values for a joint-position command.
JointGroupPositionCommandFeedback	rb::JointGroupPositionCommandFeedback	Progress and joint-index data for a joint-group command.
CartesianCommandFeedback	rb::CartesianCommandFeedback	Tracking errors and manipulability data for a Cartesian command.
CartesianImpedanceControlCommandFeedback	rb::CartesianImpedanceControlCommandFeedback	Impedance-tracking data for a Cartesian impedance command.
GravityCompensationCommandFeedback	rb::GravityCompensationCommandFeedback	Leaf result for a gravity-compensation command.
ImpedanceControlCommandFeedback	rb::ImpedanceControlCommandFeedback	Tracking error data for an impedance-control command.
JointImpedanceControlCommandFeedback	rb::JointImpedanceControlCommandFeedback	Set-point and error data for a joint-impedance command.
OptimalControlCommandFeedback	rb::OptimalControlCommandFeedback	Solver cost data for an optimal-control command.

Parsing Utility

Page	Main type	Description
RobotCommandFeedbackParser	rb::RobotCommandFeedbackParser	Parser that fills a RobotCommandFeedback object from a lower-level message.