visual_odometry_behavior_contract.hpp File
The four things every stereo visual odometry Behavior name shares, kept out of the tick. More...
Included Headers
#include <cmath>
#include <cstdint>
#include <string>
#include <behaviortree_cpp/basic_types.h>
#include <moveit_pro_nav_msgs/srv/control_stereo_visual_odometry.hpp>
#include <tl/expected.hpp>
#include "moveit_pro_behavior/behaviors/vision/control_stereo_visual_odometry.hpp"
Namespaces Index
| namespace | moveit_pro |
| namespace | behaviors |
| namespace | detail |
| namespace | visual_odometry_contract |
Description
The four things every stereo visual odometry Behavior name shares, kept out of the tick.
Which service command a name sends, how long it waits by default, which ports it offers, and what counts as a usable timeout. All four are decided by the operation alone, so they resolve at compile time from the template parameter rather than from a port – an unsupported command cannot be spelled, let alone ticked. Free functions rather than members so a test can assert on them without constructing a Behavior.
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