internal Namespace
Definition
Classes Index
| class | LatencyWindow |
|
Seam-lead estimate over the last kLatencyWindowSize inference round trips: their max, floored. More... | |
| class | MPCBehaviorBase |
|
All non-template implementation for the templated MPCBehaviorBase class. More... | |
| struct | Sam2AutomaskModelPorts |
| struct | Sam3ModelPorts |
Enumerations Index
| enum class | PolicyResponseOutcome { ... } |
Functions Index
| PolicyResponseOutcome | classifyPolicyResponse (std::uint8_t status) |
|
Classify a GetActionChunk response status into the run outcome it demands. More... | |
| std::string | policyResponseFailureMessage (const moveit_pro_ml_msgs::srv::GetActionChunk::Response &response) |
|
Render a response classified kFailed as the run's failure reason. More... | |
| bool | exceedsPositionLimitTolerance (double position, bool position_bounded, double min_position, double max_position, double tolerance_fraction) |
|
Report whether a position command lies farther outside a joint's position limits than a tolerated fraction of its position range. More... | |
template <typename Lockable, typename StopTransition> | |
| void | stopRecordingUnderLock (Lockable &mutex, StopTransition &&set_stopped) |
|
Performs the stop transition while holding the mutex shared with trajectory mutation. More... | |
template < ... > | |
| bool | mutateTrajectoryUnlessStopped (Lockable &mutex, StopPredicate &&is_stopped, TrajectoryMutation &&mutate_trajectory) |
|
Mutates the trajectory only while the stop predicate is false under the shared mutex. More... | |
| tl::expected< visualization_msgs::msg::MarkerArray, std::string > | makeRejectedWaypointMarkers (const moveit_pro::base::planning_scene::PlanningScene &planning_scene, const moveit_pro::base::JointModelGroup &group, const std::vector< Eigen::VectorXd > &checked_path, int path_index, const moveit_pro::base::collision_detection::CollisionResult::ContactMap &contacts, marker_utils::OutlineDrop *drop=nullptr) |
|
Markers for the waypoint a collision check refused. More... | |
| tl::expected< moveit_pro::hand_eye_calibration::CameraIntrinsics, std::string > | toCameraIntrinsics (const sensor_msgs::msg::CameraInfo &camera_info) |
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Extract the pinhole intrinsics the calibration library consumes from a CameraInfo message. More... | |
| tl::expected< std::vector< moveit_pro::hand_eye_calibration::PosePair >, std::string > | collectPosePairs (const std::vector< moveit_pro::hand_eye_calibration::CalibrationSample > &samples, const std::string &camera_name, const moveit_pro::hand_eye_calibration::CameraIntrinsics &intrinsics) |
|
Distill one camera's pose pairs from the collected samples. More... | |
Variables Index
| constexpr std::size_t | kLatencyWindowSize = 5 |
Enumerations
PolicyResponseOutcome
| strong |
How a policy response's status maps onto the run: execute the chunk, end the run as complete, or fail it.
Definition at line 53 of file execute_policy.hpp.
Functions
classifyPolicyResponse()
|
Classify a GetActionChunk response status into the run outcome it demands.
CHUNK_PRODUCED executes the chunk and NO_MORE_ACTIONS ends the run as complete; everything else fails the run: ERROR, UNKNOWN (the server never set the field), and any value the contract does not define, so only an explicit NO_MORE_ACTIONS may end a run as complete.
- Parameters
-
status The response's status field.
- Returns
The outcome the caller must apply.
Definition at line 493 of file execute_policy.cpp.
collectPosePairs()
|
Distill one camera's pose pairs from the collected samples.
Samples where the named camera did not usably see the board, holding no detections or too few corners for a board pose, are skipped, so each camera may use its own subset of the collected configurations. For every remaining sample the board pose is derived by PnP on the stored corner observations.
- Parameters
-
samples All collected calibration samples.
camera_name The camera to solve for.
intrinsics That camera's intrinsics.
- Returns
One pose pair per usable sample, or an error when no sample holds usable detections for the camera or a board pose cannot be estimated.
Definition at line 80 of file solve_hand_eye_calibration.cpp.
exceedsPositionLimitTolerance()
|
Report whether a position command lies farther outside a joint's position limits than a tolerated fraction of its position range.
- Parameters
-
position The commanded position.
position_bounded Whether the joint declares position limits.
min_position Lower position limit, used only when position_bounded is true.
max_position Upper position limit, used only when position_bounded is true.
tolerance_fraction Fraction of the position range (max_position - min_position) tolerated past either limit. Must be non-negative; a negative fraction inverts the band.
- Returns
True when the joint is bounded and the position lies more than the tolerated band below min_position or above max_position; false otherwise, including for an unbounded joint.
Definition at line 528 of file execute_policy.cpp.
makeRejectedWaypointMarkers()
|
Markers for the waypoint a collision check refused.
Draws the refused configuration as a translucent robot, followed by spheres at the contacts that refused it. Internal: exposed so the waypoint selection is testable without running a collision check or a ROS publisher, and not covered by the API-compatibility guarantee.
- Parameters
-
planning_scene Scene the path was checked against. Its current state seeds the drawn pose, so joints outside group and attached bodies keep their scene values.
group Planning group whose active joints checked_path describes.
checked_path Waypoints exactly as handed to the collision check — the downsampled path, not the input trajectory, since that is what path_index counts.
path_index Waypoint the collision check refused.
contacts Contacts the check reported.
drop Why an outline the scene called for was not drawn and on which link, or kNone, so the caller can say so. A missing margin reads on screen exactly like a check that used none.
- Returns
The markers, or an error when path_index falls outside checked_path. Neither the pose nor the spheres are returned on error: both describe one waypoint, so an index that does not identify one leaves nothing meaningful to draw.
Definition at line 80 of file validate_trajectory.cpp.
mutateTrajectoryUnlessStopped()
|
Mutates the trajectory only while the stop predicate is false under the shared mutex.
- Returns
True when the mutation ran; false when recording had already stopped.
Definition at line 26 of file record_joint_trajectory_synchronization.hpp.
policyResponseFailureMessage()
|
Render a response classified kFailed as the run's failure reason.
An unset or contract-undefined status gets its own text naming the adapter-side bug; ERROR reports the response's message as the reason.
- Parameters
-
response The policy response that failed the run.
- Returns
The operator-facing failure reason.
Definition at line 509 of file execute_policy.cpp.
stopRecordingUnderLock()
|
Performs the stop transition while holding the mutex shared with trajectory mutation.
Definition at line 17 of file record_joint_trajectory_synchronization.hpp.
toCameraIntrinsics()
|
Extract the pinhole intrinsics the calibration library consumes from a CameraInfo message.
Uses the K matrix and the raw distortion coefficients, matching how the detections are made on the unrectified image.
- Parameters
-
camera_info The camera's intrinsics message.
- Returns
The library intrinsics, or an error when the focal lengths are not positive, the distortion model is not plumb_bob, rational_polynomial, or empty, the coefficient count does not match the declared model, or coefficients are carried with no declared model.
Definition at line 23 of file hand_eye_calibration_common.cpp.
Variables
kLatencyWindowSize
| constexpr |
Definition at line 102 of file execute_policy.hpp.
The documentation for this namespace was generated from the following files:
- execute_policy.hpp
- record_joint_trajectory_synchronization.hpp
- execute_policy.cpp
- validate_trajectory.cpp
- hand_eye_calibration_common.cpp
- solve_hand_eye_calibration.cpp
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