rby1_sdk.SE2VelocityCommandBuilder

class SE2VelocityCommandBuilder

Bases: pybind11_object

SE(2) velocity command builder.

Defines planar velocity commands in SE(2) space (x, y translation and yaw rotation). The target velocity is reached by linear ramp-up/ramp-down subject to acceleration limits and the specified minimum execution time.

Examples

Move forward at 0.5 m/s while yawing at 0.2 rad/s, with limits and minimum time:

>>> import numpy as np, rby1_sdk as rby
>>> se2 = (
...     rby.SE2VelocityCommandBuilder()
...     .set_velocity(np.array([0.5, 0.0]), 0.2)        # [vx, vy], wz
...     .set_acceleration_limit(np.array([1.0, 1.0]), 0.5)
...     .set_minimum_time(1.0)
... )
>>> # (Optional) hold the commanded velocity after ramping:
>>> header = rby.CommandHeaderBuilder().set_control_hold_time(3.0)
>>> se2.set_command_header(header)
>>> cmd = rby.RobotCommandBuilder().set_command(
...     rby.ComponentBasedCommandBuilder().set_mobility_command(
...         rby.MobilityCommandBuilder().set_command(se2)
...     )
... )
>>> # robot.send_command(cmd, priority=1).get()

__init__(self: rby1_sdk.SE2VelocityCommandBuilder) → None

Construct an SE2VelocityCommandBuilder instance.

Methods

__init__(self)	Construct an SE2VelocityCommandBuilder instance.
set_acceleration_limit(self, linear, angular)	Set maximum acceleration limits for the SE(2) command.
set_command_header(self, command_header_builder)	Attach a command header.
set_minimum_time(self, minimum_time)	Set the minimum execution time.
set_velocity(self, linear, angular)	Set the target SE(2) velocity.