JointGroupPositionCommandFeedback

rb::JointGroupPositionCommandFeedback is the leaf feedback type for named-subset joint-position commands.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report progress for a joint-group position command.

Public Member Functions

Method	Purpose	Notes
joint_indices() const	Read the addressed joint indices.	Useful when a subset command is handled generically.
time_based_progress() const	Read completion progress based on scheduled time.	Useful for time-based monitoring.
position_based_progress() const	Read completion progress based on position convergence.	Useful for target-based monitoring.

Returned Values & Units

Accessor	Unit / encoding	Notes
joint_indices()	Joint indices	Model-order indices for the addressed joint subset.
time_based_progress()	Dimensionless	Proto comments document the range as [0, 1].
position_based_progress()	Dimensionless	Proto comments document the range as (-inf, 1].

Detailed Reference

class JointGroupPositionCommandFeedback : public rb::CommandFeedback

Public Functions

inline const std::vector<unsigned int> &joint_indices() const

inline double position_based_progress() const

inline double time_based_progress() const

Related Types

• TorsoCommandFeedback

Examples

• demo_motion.cpp