JointImpedanceControlCommandFeedback

rb::JointImpedanceControlCommandFeedback is the leaf feedback type for joint-space impedance commands.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report set-point and error data for a joint-impedance command.

Public Member Functions

Method	Purpose	Notes
set_position() const	Read the reference joint-position vector.	Useful when inspecting commanded compliance targets.
error() const	Read the current joint-space error vector.	Useful when diagnosing tracking quality.

Returned Values & Units

Accessor	Unit / encoding	Notes
set_position()	rad	Joint-space setpoint vector.
error()	rad	Per-joint position error vector.

Detailed Reference

class JointImpedanceControlCommandFeedback : public rb::CommandFeedback

Public Functions

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

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

Related Types

• ArmCommandFeedback

• TorsoCommandFeedback

• BodyCommandFeedback

Examples

• gravity_compensation.cpp