ArmGripperChunk Struct

Declaration

struct moveit_pro::behaviors::ArmGripperChunk { ... }

Included Headers

#include <execute_policy.hpp>

Public Member Attributes Index

Eigen::MatrixXd	arm_positions
	Arm joint positions, one row per arm joint in the arm joint group's order, one column per step. More...
std::vector< double >	gripper_positions
	Gripper joint position at each step, index-aligned with the chunk's points. More...
std::string	gripper_joint_name
	Name of the gripper joint, validated to match the configured gripper joint; used to look up its limits. More...

Description

A policy chunk split into the arm joints, which the executor streams to the trajectory controller, and the gripper joint, which is commanded separately. Both come from the same chunk as absolute joint positions. Only single-DOF grippers are supported: the chunk carries the gripper as exactly one joint.

Definition at line 206 of file execute_policy.hpp.

Public Member Attributes

arm_positions

Eigen::MatrixXd moveit_pro::behaviors::ArmGripperChunk::arm_positions

Arm joint positions, one row per arm joint in the arm joint group's order, one column per step.

Definition at line 209 of file execute_policy.hpp.

gripper_joint_name

std::string moveit_pro::behaviors::ArmGripperChunk::gripper_joint_name

Name of the gripper joint, validated to match the configured gripper joint; used to look up its limits.

Definition at line 213 of file execute_policy.hpp.

gripper_positions

std::vector<double> moveit_pro::behaviors::ArmGripperChunk::gripper_positions

Gripper joint position at each step, index-aligned with the chunk's points.

Definition at line 211 of file execute_policy.hpp.

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

• execute_policy.hpp

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