Classes
class	MPCBehaviorBase
	All non-template implementation for the templated MPCBehaviorBase class. More...

struct	Sam2AutomaskModelPorts

struct	Sam3ModelPorts

Enumerations
enum class	PolicyResponseOutcome { kChunkProduced , kEndOfRun , kFailed }

Functions
PolicyResponseOutcome	classifyPolicyResponse (std::uint8_t status)
	Classify a GetActionChunk response status into the run outcome it demands.

std::string	policyResponseFailureMessage (const moveit_pro_ml_msgs::srv::GetActionChunk::Response &response)
	Render a response classified kFailed as the run's failure reason.

template<typename Lockable , typename StopTransition >
void	stopRecordingUnderLock (Lockable &mutex, StopTransition &&set_stopped)
	Performs the stop transition while holding the mutex shared with trajectory mutation.

template<typename Lockable , typename StopPredicate , typename TrajectoryMutation >
bool	mutateTrajectoryUnlessStopped (Lockable &mutex, StopPredicate &&is_stopped, TrajectoryMutation &&mutate_trajectory)
	Mutates the trajectory only while the stop predicate is false under the shared mutex.

Enumeration Type Documentation

◆ PolicyResponseOutcome

enum class moveit_pro::behaviors::internal::PolicyResponseOutcome

strong

How a policy response's status maps onto the run: execute the chunk, end the run as complete, or fail it.

Enumerator
kChunkProduced
kEndOfRun
kFailed

Function Documentation

◆ classifyPolicyResponse()

PolicyResponseOutcome moveit_pro::behaviors::internal::classifyPolicyResponse ( std::uint8_t status )

Classify a GetActionChunk response status into the run outcome it demands.

CHUNK_PRODUCED executes the chunk and NO_MORE_ACTIONS ends the run as complete; everything else fails the run: ERROR, UNKNOWN (the server never set the field), and any value the contract does not define, so only an explicit NO_MORE_ACTIONS may end a run as complete.

Parameters

status The response's status field.

Returns: The outcome the caller must apply.

◆ mutateTrajectoryUnlessStopped()

template<typename Lockable , typename StopPredicate , typename TrajectoryMutation >

bool moveit_pro::behaviors::internal::mutateTrajectoryUnlessStopped	(	Lockable &	mutex,
		StopPredicate &&	is_stopped,
		TrajectoryMutation &&	mutate_trajectory
	)

Mutates the trajectory only while the stop predicate is false under the shared mutex.

Returns: True when the mutation ran; false when recording had already stopped.

◆ policyResponseFailureMessage()

std::string moveit_pro::behaviors::internal::policyResponseFailureMessage ( const moveit_pro_ml_msgs::srv::GetActionChunk::Response & response )

Render a response classified kFailed as the run's failure reason.

An unset or contract-undefined status gets its own text naming the adapter-side bug; ERROR reports the response's message as the reason.

Parameters

response The policy response that failed the run.

Returns: The operator-facing failure reason.

◆ stopRecordingUnderLock()

template<typename Lockable , typename StopTransition >

void moveit_pro::behaviors::internal::stopRecordingUnderLock	(	Lockable &	mutex,
		StopTransition &&	set_stopped
	)

Performs the stop transition while holding the mutex shared with trajectory mutation.

Classes

Enumerations