execute_policy.hpp File

Included Headers

#include <algorithm> #include <array> #include <atomic> #include <cstddef> #include <cstdint> #include <future> #include <memory> #include <mutex> #include <optional> #include <stop_token> #include <string> #include <vector> #include "Eigen/Dense" #include <tl/expected.hpp> #include "chunked_trajectory_executor/chunked_trajectory_executor.hpp" #include "chunked_trajectory_executor/trajectory_chunk_validator.hpp" #include "gripper_client/gripper_client.hpp" #include "jtac_client/jtac_client.hpp" #include "moveit_msgs/msg/planning_scene.hpp" #include "moveit_pro/planning_scene_monitor/planning_scene_monitor.hpp" #include "moveit_pro_behavior_interface/async_behavior_base.hpp" #include "moveit_pro_ml_msgs/srv/get_action_chunk.hpp" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/image.hpp" #include "sensor_msgs/msg/joint_state.hpp" #include "std_msgs/msg/float64_multi_array.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp"

Namespaces Index

namespace	moveit_pro
namespace	base
namespace	behaviors
namespace	internal

Classes Index

class	LatencyWindow
	Seam-lead estimate over the last kLatencyWindowSize inference round trips: their max, floored. More...
struct	ArmGripperChunk
struct	PolicyObservation
	The current observation a policy conditions on for one inference. More...
class	ObservationSourceInterface
	Supplies the current observation for one policy inference. More...
class	ActionChunkProducerInterface
	Runs one inference of a policy that produces trajectory chunks. More...
class	ExecutePolicy
	Executes a policy as continuous, collision-checked motion on the arm and optional gripper. More...
struct	Deps
struct	SceneAndState
struct	StreamConfig
struct	RtcCarryover
struct	ResolvedPolicyChunk
struct	GripperPlan
class	GripperStreamer

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