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SceneAndState Struct

Declaration​

struct moveit_pro::behaviors::ExecutePolicy::SceneAndState { ... }

Included Headers​

#include <execute_policy.hpp>

Public Member Attributes Index​

std::shared_ptr< moveit_pro::planning_scene_monitor::PlanningSceneMonitor >planning_scene_monitor
rclcpp::Subscription< moveit_msgs::msg::PlanningScene >::SharedPtrscene_subscription
std::vector< float >initial_joint_positions
sensor_msgs::msg::JointStatefull_joint_state

Description​

Scene monitoring and initial state for one run. The monitor and its /monitored_planning_scene subscription keep the scene current for the whole run; both are null when a test override supplies canned state. full_joint_state holds every joint position the scene knew at acquisition time (the gripper joint is not commanded, so its starting position comes from here); tests leave it empty and inject their own observation source.

Definition at line 470 of file execute_policy.hpp.

Public Member Attributes​

full_joint_state​

sensor_msgs::msg::JointState moveit_pro::behaviors::ExecutePolicy::SceneAndState::full_joint_state

Definition at line 475 of file execute_policy.hpp.

initial_joint_positions​

std::vector<float> moveit_pro::behaviors::ExecutePolicy::SceneAndState::initial_joint_positions

Definition at line 474 of file execute_policy.hpp.

planning_scene_monitor​

std::shared_ptr<moveit_pro::planning_scene_monitor::PlanningSceneMonitor> moveit_pro::behaviors::ExecutePolicy::SceneAndState::planning_scene_monitor

Definition at line 472 of file execute_policy.hpp.

scene_subscription​

rclcpp::Subscription<moveit_msgs::msg::PlanningScene>::SharedPtr moveit_pro::behaviors::ExecutePolicy::SceneAndState::scene_subscription

Definition at line 473 of file execute_policy.hpp.

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

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