rb::CartesianCommandBuilder Class Reference

Public Member Functions
CartesianCommandBuilder &	AddJointPositionTarget (const std::string &joint_name, double target_position, std::optional< double > velocity_limit=std::nullopt, std::optional< double > acceleration_limit=std::nullopt)
CartesianCommandBuilder &	AddTarget (const std::string &ref_link_name, const std::string &link_name, const math::SE3::MatrixType &T, double linear_velocity_limit, double angular_velocity_limit, double acceleration_limit_scaling=1.)
CartesianCommandBuilder &	SetCommandHeader (const CommandHeaderBuilder &builder)
CartesianCommandBuilder &	SetMinimumTime (double minium_time)
CartesianCommandBuilder &	SetStopJointPositionTrackingError (double stop_joint_position_tracking_error)
CartesianCommandBuilder &	SetStopOrientationTrackingError (double stop_orientation_tracking_error)
CartesianCommandBuilder &	SetStopPositionTrackingError (double stop_position_tracking_error)

Friends
class	ArmCommandBuilderImpl
class	BodyCommandBuilderImpl
class	TorsoCommandBuilderImpl

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The documentation for this class was generated from the following file:

• /external/rby1-sdk/include/rby1-sdk/robot_command_builder.h