ControlManagerState#

rb::ControlManagerState describes the execution subsystem that sits between the client and command execution. Read it before commanding the robot, and check it again whenever a fault or execution transition is suspected.

Header

#include <rby1-sdk/control_manager_state.h>

Declaration

Namespace	`rb`
Kind	`struct`
Primary role	Describe control-manager state, control execution state, enabled joints, and time-scale settings.

Member Types / Enums

Type	Purpose	Notes
`State`	High-level control-manager state.	Use it to distinguish idle, enabled, and fault modes.
`ControlState`	Execution-phase state for the current command path.	Useful while a command is starting, running, or switching.

Public Attributes

Field	Meaning	Notes
`state`	Top-level control-manager state.	Check this first when diagnosing faults.
`control_state`	Execution-phase state.	Helps interpret transient command behavior.
`enabled_joint_idx`	Joint indices currently enabled by the manager.	Useful for partial-robot workflows.
`time_scale`	Active motion time scale.	Mirrors client-side time-scale control.
`unlimited_mode_enabled`	Whether unlimited mode is active.	Relevant when enabling the manager with unlimited mode.

Numeric Fields & Encodings

Field	Unit / encoding	Notes
`time_scale`	Dimensionless	Multiplier applied to motion timing.
`enabled_joint_idx`	Joint indices	Model-order joint indices currently enabled by the control manager.

Detailed Reference

struct ControlManagerState#

Public Types

enum class ControlState#

Values:

enumerator kUnknown#

enumerator kIdle#

enumerator kExecuting#

enumerator kSwitching#

enum class State#

Values:

enumerator kUnknown#

enumerator kIdle#

enumerator kEnabled#

enumerator kMinorFault#

enumerator kMajorFault#

Public Members

ControlState control_state = {ControlState::kUnknown}#

std::vector<unsigned int> enabled_joint_idx = {}#

State state = {State::kUnknown}#

double time_scale = {0.}#

bool unlimited_mode_enabled = {false}#

Related Types

Examples

demo_motion.cpp and power_command.cpp both pass through the control-manager lifecycle.