ObservationSourceInterface Class

Supplies the current observation for one policy inference. More...

Declaration

class moveit_pro::behaviors::ObservationSourceInterface { ... }

Included Headers

#include <execute_policy.hpp>

Public Destructor Index

	~ObservationSourceInterface ()=default

Public Member Functions Index

tl::expected< PolicyObservation, std::string >	getObservation ()=0
	Read the current observation. More...

Description

Supplies the current observation for one policy inference.

Returns the latest sensed joint positions ordered like the commanded joints plus the latest frame from each configured camera. Hidden behind an interface so the production topic subscriber and a test double share one seam, mirroring ActionChunkProducerInterface.

Definition at line 267 of file execute_policy.hpp.

Public Destructor

~ObservationSourceInterface()

virtual moveit_pro::behaviors::ObservationSourceInterface::~ObservationSourceInterface ()

virtual default

Definition at line 270 of file execute_policy.hpp.

Public Member Functions

getObservation()

virtual tl::expected< PolicyObservation, std::string > moveit_pro::behaviors::ObservationSourceInterface::getObservation ()

Read the current observation.

Returns

The latest joint positions and camera frames, or an error if the observation could not be assembled.

Definition at line 277 of file execute_policy.hpp.

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

• execute_policy.hpp

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