OptimalControlCommandFeedback

rb::OptimalControlCommandFeedback is the leaf feedback type for optimal-control commands.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	rb
Kind	class
Primary role	Report optimization costs for an optimal-control command.

Public Member Functions

Method	Purpose	Notes
total_cost() const	Read the total optimization cost.	This is the main scalar summary.
center_of_mass_cost() const	Read the COM objective cost.	Useful when COM tracking is active.
joint_position_costs() const and cartesian_costs() const	Read detailed cost breakdowns.	Useful when tuning target weights.

Returned Values & Units

Accessor	Unit / encoding	Notes
total_cost()	Dimensionless	Total objective value reported by the optimizer.
cartesian_costs()	Dimensionless	Per-target Cartesian cost terms.
center_of_mass_cost()	Dimensionless	COM objective contribution.
joint_position_costs()	Dimensionless	Per-joint position cost terms.

Detailed Reference

class OptimalControlCommandFeedback : public rb::CommandFeedback

Public Functions

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

inline double center_of_mass_cost() const

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

inline double total_cost() const

Related Types

• TorsoCommandFeedback

• BodyCommandFeedback

• OptimalControl

Examples

• optimal_control.cpp