Declaration
class moveit_pro::behaviors::ExecutePolicy::GripperStreamer { ... }
Public Constructors Index
Public Member Functions Index
| void | setPlan (GripperPlan plan) |
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Replace the committed gripper trajectory with this chunk's plan. More...
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| void | stream (double now_on_clock) |
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Private Member Functions Index
| void | send (double target) |
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Send a gripper target, fire-and-forget, skipping one within the dedup tolerance of the last sent. More...
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Private Member Attributes Index
Description
Plays a chunk's GripperPlan out to the gripper action one committed step at a time. Owns the per-run streaming state (the current plan and the last target sent) so streamPolicyChunks does not carry it inline. Holds a non-owning pointer to the gripper client, which the behavior keeps alive for the whole run and which is null when no gripper is configured, in which case streaming is a no-op.
Definition at line 493 of file execute_policy.hpp.
Public Constructors
GripperStreamer()
| moveit_pro::behaviors::ExecutePolicy::GripperStreamer::GripperStreamer (GripperClientInterface * client, double dt) |
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Public Member Functions
setPlan()
| void moveit_pro::behaviors::ExecutePolicy::GripperStreamer::setPlan (GripperPlan plan) |
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stream()
| void moveit_pro::behaviors::ExecutePolicy::GripperStreamer::stream (double now_on_clock) |
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Drive the gripper to the committed step the trajectory clock has reached, holding the final step once the window is past. Before the seam it commands the first committed target, so the gripper leads toward the seam pose. A no-op when no plan is set or no gripper is configured.
Declaration at line 504 of file execute_policy.hpp, definition at line 1279 of file execute_policy.cpp.
Private Member Functions
send()
| void moveit_pro::behaviors::ExecutePolicy::GripperStreamer::send (double target) |
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Send a gripper target, fire-and-forget, skipping one within the dedup tolerance of the last sent.
Declaration at line 508 of file execute_policy.hpp, definition at line 1291 of file execute_policy.cpp.
Private Member Attributes
client_
| GripperClientInterface* moveit_pro::behaviors::ExecutePolicy::GripperStreamer::client_ |
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dt_
| double moveit_pro::behaviors::ExecutePolicy::GripperStreamer::dt_ |
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last_target_
| std::optional<double> moveit_pro::behaviors::ExecutePolicy::GripperStreamer::last_target_ |
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plan_
| std::optional<GripperPlan> moveit_pro::behaviors::ExecutePolicy::GripperStreamer::plan_ |
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The documentation for this class was generated from the following files:
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