Abstract interface for trajectory execution pipelines. More...

#include <execute_mtc_solution.hpp>

Inheritance diagram for moveit_studio::behaviors::TrajectoryExecutionPipeline:

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Public Member Functions
virtual	~TrajectoryExecutionPipeline ()=default

virtual tl::expected< bool, std::string >	initialize (const std::string &action_name)=0
	Initialize the trajectory execution pipeline.

virtual tl::expected< bool, std::string >	executeTrajectory (const trajectory_msgs::msg::JointTrajectory &joint_trajectory, const std::optional< moveit_pro_controllers_msgs::msg::AdmittanceParameters > &admittance_params, const std::optional< double > &goal_tolerance, const std::optional< double > &path_tolerance, const std::optional< std::vector< double > > &absolute_force_torque_threshold, double goal_duration_tolerance_seconds, std::size_t index)=0
	Execute a trajectory with the given parameters.

virtual tl::expected< void, std::string >	cancelExecution ()=0
	Cancel the currently active trajectory execution.

Detailed Description

Abstract interface for trajectory execution pipelines.

This interface hides the specific ActionType details and allows for different trajectory execution implementations (JTAC, JTC-like, etc.).

Constructor & Destructor Documentation

virtual moveit_studio::behaviors::TrajectoryExecutionPipeline::~TrajectoryExecutionPipeline ( )

virtualdefault

virtual tl::expected< void, std::string > moveit_studio::behaviors::TrajectoryExecutionPipeline::cancelExecution ( )

pure virtual

Cancel the currently active trajectory execution.

virtual tl::expected< bool, std::string > moveit_studio::behaviors::TrajectoryExecutionPipeline::executeTrajectory	(	const trajectory_msgs::msg::JointTrajectory &	joint_trajectory,
		const std::optional< moveit_pro_controllers_msgs::msg::AdmittanceParameters > &	admittance_params,
		const std::optional< double > &	goal_tolerance,
		const std::optional< double > &	path_tolerance,
		const std::optional< std::vector< double > > &	absolute_force_torque_threshold,
		double	goal_duration_tolerance_seconds,
		std::size_t	index
	)

pure virtual

Execute a trajectory with the given parameters.

Parameters

joint_trajectory	The joint trajectory to execute.
admittance_params	Admittance control parameters (may be ignored by non-JTAC implementations).
goal_tolerance	Optional goal position tolerance.
path_tolerance	Optional path position tolerance.
absolute_force_torque_threshold	Optional force/torque limits (JTAC-specific).
goal_duration_tolerance_seconds	Timeout in seconds (negative means wait indefinitely).
index	Sub-trajectory index for error reporting.