moveit_pro::behaviors::ArmGripperChunk Struct Reference

#include <execute_policy.hpp>

Public Attributes
Eigen::MatrixXd	arm_positions
	Arm joint positions, one row per arm joint in the arm joint group's order, one column per step.
std::vector< double >	gripper_positions
	Gripper joint position at each step, index-aligned with the chunk's points.
std::string	gripper_joint_name
	Name of the gripper joint (the one chunk joint not in the arm group), used to look up its limits.

Detailed Description

A policy chunk split into the arm joints, which the executor streams to the trajectory controller, and the gripper joint, which is commanded separately. Both come from the same chunk as absolute joint positions. Only single-DOF grippers are supported: the chunk carries the gripper as exactly one joint.

Member Data Documentation

arm_positions

Eigen::MatrixXd moveit_pro::behaviors::ArmGripperChunk::arm_positions

Arm joint positions, one row per arm joint in the arm joint group's order, one column per step.

gripper_joint_name

std::string moveit_pro::behaviors::ArmGripperChunk::gripper_joint_name

Name of the gripper joint (the one chunk joint not in the arm group), used to look up its limits.

gripper_positions

std::vector<double> moveit_pro::behaviors::ArmGripperChunk::gripper_positions

Gripper joint position at each step, index-aligned with the chunk's points.

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

• execute_policy.hpp