TorsoCommandFeedback#

rb::TorsoCommandFeedback exposes the leaf feedback object for the active torso-scoped command mode.

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

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

Public Member Functions

Method	Purpose	Notes
`joint_position_command() const` and `joint_group_position_command() const`	Access joint-space torso feedback.	Use the accessor matching the submitted primitive.
`cartesian_command() const` and `cartesian_impedance_control_command() const`	Access task-space torso feedback.	Valid when the torso was driven in Cartesian space.
`impedance_control_command() const`, `joint_impedance_control_command() const`, `gravity_compensation_command() const`, `optimal_control_command() const`	Access the remaining torso leaves.	Covers compliance, compensation, and optimization paths.

Detailed Reference

class TorsoCommandFeedback : public rb::CommandFeedback #

Public Functions

inline const CartesianImpedanceControlCommandFeedback &cartesian_impedance_control_command() const#

inline const GravityCompensationCommandFeedback &gravity_compensation_command() const#

inline const ImpedanceControlCommandFeedback &impedance_control_command() const#

inline const JointGroupPositionCommandFeedback &joint_group_position_command() const#

inline const JointImpedanceControlCommandFeedback &joint_impedance_control_command() const#

inline const OptimalControlCommandFeedback &optimal_control_command() const#

Related Types

Examples