PolicyInterface Class

A resident policy that creates one execution session at a time. More...

Declaration

class moveit_pro::behaviors::PolicyInterface { ... }

Included Headers

#include <policy.hpp>

Public Destructor Index

	~PolicyInterface ()=default

Public Member Functions Index

tl::expected< std::unique_ptr< ActionChunkProducerInterface >, std::string >	beginRun (const PolicyRunOptions &options)=0
	Validate options and start a fresh run without loading a model or starting motion. More...

Description

A resident policy that creates one execution session at a time.

A handle is process-local and cannot be reconstructed from XML, JSON, or REST overrides. The loader and blackboard share ownership. A cancelled session never becomes reusable. Only the loaders in this package implement it; it is not yet an extension point for other plugins.

Definition at line 171 of file policy.hpp.

Public Destructor

~PolicyInterface()

virtual moveit_pro::behaviors::PolicyInterface::~PolicyInterface ()

virtual default

Definition at line 174 of file policy.hpp.

Public Member Functions

beginRun()

virtual tl::expected< std::unique_ptr< ActionChunkProducerInterface >, std::string > moveit_pro::behaviors::PolicyInterface::beginRun (const PolicyRunOptions & options)

Validate options and start a fresh run without loading a model or starting motion.

Returns

A new producer, or an error for invalid options, unsupported capabilities, or a handle another run is using.

Fails busy at once while another producer from this handle is alive. Destroying a producer cancels its run and waits for any in-flight in-process inference before the handle admits the next run.

Definition at line 184 of file policy.hpp.

---

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

• policy.hpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.