RobotCommandFeedback¶

rb::RobotCommandFeedback is the root of the command-result tree returned by the client. It exposes top-level execution status and the first branching point for whole-body, component-based, or jog feedback.

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Hold the root execution status and the top-level child feedback objects.

Member Types / Enums

Type	Purpose	Notes
`Status`	High-level execution status.	Check while polling or after completion.
`FinishCode`	Final completion code.	Read this before drilling into branch-specific details.

Public Member Functions

Method	Purpose	Notes
`status() const` and `finish_code() const`	Read the top-level execution status and final code.	These are the first fields most client code checks.
`whole_body_command() const`	Access the whole-body branch.	Valid when the submitted command took the whole-body path.
`component_based_command() const`	Access the component-based branch.	Valid when body, head, or mobility commands were composed.
`jog_command() const`	Access the jog branch.	Valid when the top-level command was a named-joint jog.

Detailed Reference

class RobotCommandFeedback : public rb::CommandFeedback ¶

Public Types

enum class FinishCode : int¶

Values:

enumerator kUnknown¶

enumerator kOk¶

enumerator kCanceled¶

enumerator kPreempted¶

enumerator kInitializationFailed¶

enumerator kControlManagerIdle¶

enumerator kControlManagerFault¶

enumerator kUnexpectedState¶

enum class Status : int¶

Values:

enumerator kIdle¶

enumerator kInitializing¶

enumerator kRunning¶

enumerator kFinished¶

Public Functions

inline const ComponentBasedCommandFeedback &component_based_command() const¶

inline const FinishCode &finish_code() const¶

inline const JogCommandFeedback &jog_command() const¶

inline const Status &status() const¶

inline const WholeBodyCommandFeedback &whole_body_command() const¶

Related Types

Examples

demo_motion.cpp
stop_command.cpp