execute_policy.cpp File Reference

#include "moveit_pro_behavior/behaviors/core/execute_policy.hpp"
#include <algorithm>
#include <atomic>
#include <chrono>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <future>
#include <iterator>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <tuple>
#include <unordered_set>
#include <utility>
#include <vector>
#include "fmt/format.h"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/scope_exit.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
#include "chunked_trajectory_executor/collision_chunk_validator.hpp"
#include "moveit_pro/planning_scene_monitor/planning_scene_monitor.hpp"
#include "moveit_pro_base/planning_scene/planning_scene.hpp"
#include "moveit_pro_base/robot_model/joint_model.hpp"
#include "moveit_pro_base/robot_model/robot_model.hpp"
#include "moveit_pro_base/robot_state/conversions.hpp"
#include "moveit_pro_behavior/utils/jog_utils.hpp"
#include "moveit_pro_behavior_interface/get_required_ports.hpp"
#include "moveit_pro_behavior_interface/metadata_fields.hpp"
#include "moveit_pro_macros/macros.hpp"

Include dependency graph for execute_policy.cpp:

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
tl::expected< Eigen::MatrixXd, std::string >	moveit_pro::behaviors::chunkMatrixFromJointTrajectory (const trajectory_msgs::msg::JointTrajectory &chunk, std::size_t num_dof)
	Reshape a policy chunk message into the column-per-step matrix the executor expects.
tl::expected< std::vector< double >, std::string >	moveit_pro::behaviors::orderedJointPositions (const sensor_msgs::msg::JointState &joint_state, const std::vector< std::string > &joint_names)
	Read the positions of the named joints out of a joint state, in the given order.
tl::expected< std::vector< double >, std::string >	moveit_pro::behaviors::buildFallbackPositions (const std::vector< float > &initial_joint_positions, const std::string &gripper_joint_name, const sensor_msgs::msg::JointState &full_state)
	Build the observation fallback positions from the planning-scene snapshot.
tl::expected< void, std::string >	moveit_pro::behaviors::validateGripperJointConfig (const base::RobotModel &robot_model, const std::vector< std::string > &joint_names, const std::string &joint_group_name, const std::string &gripper_command_action_name, const std::string &gripper_joint_name)
	Validate the gripper joint configuration before any motion.
tl::expected< ArmGripperChunk, std::string >	moveit_pro::behaviors::splitArmAndGripperChunk (const trajectory_msgs::msg::JointTrajectory &chunk, const std::vector< std::string > &arm_joint_names, const std::string &gripper_joint_name)
	Split a policy chunk that carries a gripper into its arm joints and its single gripper joint.
double	moveit_pro::behaviors::clampToPositionLimits (double position, bool position_bounded, double min_position, double max_position)
	Clamp a position command to a joint's position limits.