rb::CartesianImpedanceControlCommandBuilder Class Reference

Public Member Functions
CartesianImpedanceControlCommandBuilder &	AddJointLimit (const std::string &joint_name, double lower, double upper)
CartesianImpedanceControlCommandBuilder &	AddJointPositionTarget (const std::string &joint_name, double target_position, std::optional< double > velocity_limit=std::nullopt, std::optional< double > acceleration_limit=std::nullopt)
CartesianImpedanceControlCommandBuilder &	AddTarget (const std::string &ref_link_name, const std::string &link_name, const math::SE3::MatrixType &T, std::optional< double > linear_velocity_limit=std::nullopt, std::optional< double > angular_velocity_limit=std::nullopt, std::optional< double > linear_acceleration_limit=std::nullopt, std::optional< double > angular_acceleration_limit=std::nullopt)
CartesianImpedanceControlCommandBuilder &	SetCommandHeader (const CommandHeaderBuilder &builder)
CartesianImpedanceControlCommandBuilder &	SetJointDampingRatio (double damping_ratio)
CartesianImpedanceControlCommandBuilder &	SetJointStiffness (const Eigen::VectorXd &stiffness)
CartesianImpedanceControlCommandBuilder &	SetJointTorqueLimit (const Eigen::VectorXd &torque_limit)
CartesianImpedanceControlCommandBuilder &	SetMinimumTime (double minium_time)
CartesianImpedanceControlCommandBuilder &	SetNullspaceJointTarget (const Eigen::VectorXd &target_position, const Eigen::VectorXd &weight, std::optional< double > k_p=std::nullopt, std::optional< double > k_d=std::nullopt, std::optional< double > cost_weight=std::nullopt)
CartesianImpedanceControlCommandBuilder &	SetResetReference (bool reset_reference)
CartesianImpedanceControlCommandBuilder &	SetStopJointPositionTrackingError (double stop_joint_position_tracking_error)
CartesianImpedanceControlCommandBuilder &	SetStopOrientationTrackingError (double stop_orientation_tracking_error)
CartesianImpedanceControlCommandBuilder &	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