visual_odometry_contract Namespace
Definition
Typedefs Index
| using | Service = moveit_pro_nav_msgs::srv::ControlStereoVisualOdometry |
Functions Index
template <StereoVisualOdometryOperation operation> | |
| constexpr uint8_t | toServiceCommand () |
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Maps a Behavior instantiation's operation to the service command it sends. More... | |
template <StereoVisualOdometryOperation operation> | |
| constexpr double | defaultResponseTimeoutSeconds () |
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The service response timeout one operation defaults to. More... | |
template <StereoVisualOdometryOperation operation> | |
| BT::PortsList | providedPorts () |
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Builds the port list shared by every stereo visual odometry Behavior name. More... | |
| tl::expected< double, std::string > | validateResponseTimeout (const double timeout_seconds) |
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Accept only a finite positive timeout. More... | |
Variables Index
| constexpr auto | kUnknownTrackingState = "unknown" |
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The tracking state reported when no response was observed. More... | |
Typedefs
Service
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Definition at line 31 of file visual_odometry_behavior_contract.hpp.
Functions
defaultResponseTimeoutSeconds()
| constexpr |
The service response timeout one operation defaults to.
Every command is answered on the runtime's default mutually-exclusive callback group, so a call first waits out any in-flight stereo inference. START additionally constructs both model graphs inside the callback, and on the fault-recovery path it builds a private pool rather than taking the process pool, so it is a cold graph construction rather than a lookup. One default sized for a status query would expire during a recovery START, and a client timeout does not cancel server work: the tree would see FAILURE while the runtime came up.
Definition at line 75 of file visual_odometry_behavior_contract.hpp.
providedPorts()
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Builds the port list shared by every stereo visual odometry Behavior name.
The service response is uniform across all four commands, so every instantiation reports the same six status outputs. Only the reset operation consumes reset_pose, so only that instantiation offers it.
Definition at line 93 of file visual_odometry_behavior_contract.hpp.
toServiceCommand()
| constexpr |
Maps a Behavior instantiation's operation to the service command it sends.
The operation is a template parameter rather than a runtime port value, so an unsupported command cannot be expressed and there is no runtime error branch to take.
Definition at line 46 of file visual_odometry_behavior_contract.hpp.
validateResponseTimeout()
| inline |
Accept only a finite positive timeout.
Sibling service Behaviors read a negative value as "wait forever", and the base class supports it. This one refuses it on purpose: the runtime serializes control calls behind an inference it cannot preempt, so an unbounded wait is a tick the tree cannot recover from rather than a patient one.
Definition at line 151 of file visual_odometry_behavior_contract.hpp.
Variables
kUnknownTrackingState
| constexpr |
The tracking state reported when no response was observed.
The service contract already reserves this value for a state the runtime cannot name, and directs clients to treat an unrecognized value as degraded rather than healthy, so it is the right reading for "did not answer".
Definition at line 38 of file visual_odometry_behavior_contract.hpp.
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