JointPositionCommandFeedback#

rb::JointPositionCommandFeedback is the leaf feedback type for joint-space position commands.

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

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

Public Member Functions

Method	Purpose	Notes
`time_based_progress() const`	Read completion progress based on scheduled time.	Useful for timeline-style monitoring.
`position_based_progress() const`	Read completion progress based on position convergence.	Useful when target tracking matters more than time.

Returned Values & Units

Accessor	Unit / encoding	Notes
`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 JointPositionCommandFeedback : public rb::CommandFeedback #

Public Functions

Related Types

Examples