rb::RobotCommandHandler< T > Class Template Reference

Robot command handler. More...

#include <robot.h>

Public Member Functions
void	Cancel ()
	Cancel the command execution.
RobotCommandFeedback	Get ()
	Wait for the command execution and get feedback.
bool	GetStatus () const
	Get gRPC status.
bool	IsDone () const
	Check if the command execution is complete.
void	Wait ()
	Wait for the command execution to complete.
bool	WaitFor (int timeout_ms)
	Wait for the command execution with timeout.

Friends
class	RobotImpl< T >

Detailed Description

template<typename T>
class rb::RobotCommandHandler< T >

Robot command handler.

Handles robot command execution and provides status monitoring.

Template Parameters

T	Robot model type

Member Function Documentation

Get()

template<typename T >

RobotCommandFeedback rb::RobotCommandHandler< T >::Get

(

)

Wait for the command execution and get feedback.

Waits for command completion and returns detailed controller feedback including position errors, control status, and final execution results.

Returns

RobotCommandFeedback Final controller state and execution results.

GetStatus()

template<typename T >

bool rb::RobotCommandHandler< T >::GetStatus

(

)

const

Get gRPC status.

Returns

bool Status information.

IsDone()

template<typename T >

bool rb::RobotCommandHandler< T >::IsDone

(

)

const

Check if the command execution is complete.

Returns

True if command is complete, false otherwise.

Wait()

template<typename T >

void rb::RobotCommandHandler< T >::Wait

(

)

Wait for the command execution to complete.

This method blocks until the command is done or cancelled.

WaitFor()

template<typename T >

bool rb::RobotCommandHandler< T >::WaitFor

(

int

timeout_ms

)

Wait for the command execution with timeout.

Parameters

timeout_ms

Timeout [ms].

Returns

True if command completed, false if timeout.

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

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