MobilityCommandFeedback#

rb::MobilityCommandFeedback is the feedback branch for mobility commands. It exposes leaf feedback for joint-velocity and planar-base velocity requests.

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold the feedback branch for one mobility command.

Public Member Functions

Method	Purpose	Notes
`joint_velocity_command() const`	Access the joint-velocity feedback leaf.	Valid for wheel-joint velocity commands.
`se2_velocity_command() const`	Access the planar-base velocity feedback leaf.	Valid for SE2 base commands.

Detailed Reference

class MobilityCommandFeedback : public rb::CommandFeedback #

Public Functions

inline const JointVelocityCommandFeedback &joint_velocity_command() const#

inline const SE2VelocityCommandFeedback &se2_velocity_command() const#

Related Types

ComponentBasedCommandFeedback
JointVelocityCommandFeedback
SE2VelocityCommandFeedback

Examples

mobility_command.cpp