Inheritance diagram for moveit.policies.policy.Policy:

Collaboration diagram for moveit.policies.policy.Policy:

Public Member Functions
def	__init__ (self, params, node_name="policy_node")

def	is_active (self)

def	active (self, value)

def	activate_policy (self, request, response)

def	get_sensor_msg_type (self, msg_type)

def	get_command_msg_type (self, msg_type)

def	register_sensors (self)

def	register_command (self)

def	forward ()

Public Attributes
	logger

	param_listener

	params

	activate_policy_service

	sensor_subs

	sensor_sync

	command_pub

Detailed Description

An abstract base class for deploying learnt policies.

Definition at line 54 of file policy.py.

Constructor & Destructor Documentation

◆ init()

def moveit.policies.policy.Policy.__init__	(	self,
		params,
		node_name = `"policy_node"`
	)

Initialise the policy.

Definition at line 57 of file policy.py.

Member Function Documentation

◆ activate_policy()

def moveit.policies.policy.Policy.activate_policy	(	self,
		request,
		response
	)

Sets the policy to active state via ROS interface.

Definition at line 90 of file policy.py.

◆ active()

def moveit.policies.policy.Policy.active	(	self,
		value
	)

Sets the policy to active state via Python API.

Definition at line 86 of file policy.py.

◆ forward()

def moveit.policies.policy.Policy.forward ( )

Perform a forward pass of the policy.

Definition at line 148 of file policy.py.

◆ get_command_msg_type()

def moveit.policies.policy.Policy.get_command_msg_type	(	self,
		msg_type
	)

Returns the ROS 2 message type for a given command type.

Definition at line 102 of file policy.py.

◆ get_sensor_msg_type()

def moveit.policies.policy.Policy.get_sensor_msg_type	(	self,
		msg_type
	)

Returns the ROS 2 message type for a given sensor type.

Definition at line 95 of file policy.py.

◆ is_active()

def moveit.policies.policy.Policy.is_active ( self )

Returns True if the policy is active.

Definition at line 81 of file policy.py.

◆ register_command()

def moveit.policies.policy.Policy.register_command ( self )

Register the topic to publish actions to.

Definition at line 139 of file policy.py.

◆ register_sensors()

def moveit.policies.policy.Policy.register_sensors ( self )

Register the topics to listen to for sensor data.

Definition at line 113 of file policy.py.

Member Data Documentation

◆ activate_policy_service

moveit.policies.policy.Policy.activate_policy_service

Definition at line 68 of file policy.py.

◆ command_pub

moveit.policies.policy.Policy.command_pub

Definition at line 141 of file policy.py.

◆ logger

moveit.policies.policy.Policy.logger

Definition at line 60 of file policy.py.

◆ param_listener

moveit.policies.policy.Policy.param_listener

Definition at line 63 of file policy.py.

◆ params

moveit.policies.policy.Policy.params

Definition at line 64 of file policy.py.

◆ sensor_subs

moveit.policies.policy.Policy.sensor_subs

Definition at line 115 of file policy.py.

◆ sensor_sync

moveit.policies.policy.Policy.sensor_sync

Definition at line 130 of file policy.py.

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

moveit_py/moveit/policies/policy.py

Public Member Functions

Public Attributes