WholeBodyCommandFeedback#

rb::WholeBodyCommandFeedback is the feedback branch for whole-body commands. It exposes the leaf feedback for stop requests and real-time bootstrap requests.

Header

Header

#include <rby1-sdk/robot_command_feedback.h>

Declaration

Namespace

rb

Kind

class

Primary role

Hold the whole-body branch of the feedback tree.

Public Member Functions

Method

Purpose

Notes

stop_command() const

Access the leaf feedback for stop requests.

Valid when the whole-body command was a stop.

realtime_control_command() const

Access the leaf feedback for real-time bootstrap requests.

Valid when the whole-body command opened the RT path.

Detailed Reference

class WholeBodyCommandFeedback : public rb::CommandFeedback#

Public Functions

inline const RealtimeControlCommandFeedback &realtime_control_command() const#
inline const StopCommandFeedback &stop_command() const#

Related Types

Examples

  • stop_command.cpp

  • real_time_control_command.cpp