moveit_pro::behaviors::ObservationSourceInterface Class Reference

Supplies the current observation for one policy inference. More...

#include <execute_policy.hpp>

Public Member Functions
virtual	~ObservationSourceInterface ()=default
virtual tl::expected< PolicyObservation, std::string >	getObservation ()=0
	Read the current observation.

Detailed Description

Supplies the current observation for one policy inference.

Returns the latest sensed joint positions ordered like the commanded joints plus the latest frame from each configured camera. Hidden behind an interface so the production topic subscriber and a test double share one seam, mirroring ActionChunkProducerInterface.

Constructor & Destructor Documentation

~ObservationSourceInterface()

virtual moveit_pro::behaviors::ObservationSourceInterface::~ObservationSourceInterface ( )

virtualdefault

Member Function Documentation

getObservation()

virtual tl::expected< PolicyObservation, std::string > moveit_pro::behaviors::ObservationSourceInterface::getObservation ( )

pure virtual

Read the current observation.

Returns

The latest joint positions and camera frames, or an error if the observation could not be assembled.

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

• execute_policy.hpp