MoveIt Pro API
Core Behaviors for MoveIt Pro
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Public Member Functions | List of all members
moveit_studio::behaviors::DiffusionPolicyInterface Class Reference

#include <diffusion_policy.hpp>

Public Member Functions

virtual ~DiffusionPolicyInterface ()=default
 
virtual tl::expected< bool, std::string > init (const std::string &diffusion_encoder_model_path, const std::string &diffusion_step_model_path, const std::string &model_package, const std::vector< std::string > &robot_model_joint_names)
 
virtual Eigen::MatrixXf predictTrajectory (const moveit_pro_ml::StringImageMap &camera_images, const std::vector< std::vector< float > > &robot_states, const std::optional< std::vector< float > > &conditioned_robot_state, const std::optional< int64_t > &conditioned_time) const
 
virtual double getDeltaTime () const
 
virtual int64_t getNumActionSteps () const
 
virtual std::vector< std::string > getJointNames () const
 
bool isInitialized () const
 

Constructor & Destructor Documentation

◆ ~DiffusionPolicyInterface()

virtual moveit_studio::behaviors::DiffusionPolicyInterface::~DiffusionPolicyInterface ( )
virtualdefault

Member Function Documentation

◆ getDeltaTime()

double moveit_studio::behaviors::DiffusionPolicyInterface::getDeltaTime ( ) const
virtual

◆ getJointNames()

std::vector< std::string > moveit_studio::behaviors::DiffusionPolicyInterface::getJointNames ( ) const
virtual

◆ getNumActionSteps()

int64_t moveit_studio::behaviors::DiffusionPolicyInterface::getNumActionSteps ( ) const
virtual

◆ init()

tl::expected< bool, std::string > moveit_studio::behaviors::DiffusionPolicyInterface::init ( const std::string &  diffusion_encoder_model_path,
const std::string &  diffusion_step_model_path,
const std::string &  model_package,
const std::vector< std::string > &  robot_model_joint_names 
)
virtual

◆ isInitialized()

bool moveit_studio::behaviors::DiffusionPolicyInterface::isInitialized ( ) const
inline

◆ predictTrajectory()

Eigen::MatrixXf moveit_studio::behaviors::DiffusionPolicyInterface::predictTrajectory ( const moveit_pro_ml::StringImageMap &  camera_images,
const std::vector< std::vector< float > > &  robot_states,
const std::optional< std::vector< float > > &  conditioned_robot_state,
const std::optional< int64_t > &  conditioned_time 
) const
virtual
The documentation for this class was generated from the following files: