moveit.policies.policy.Policy Class Reference

Inheritance diagram for moveit.policies.policy.Policy:

Collaboration diagram for moveit.policies.policy.Policy:

Public Member Functions
	__init__ (self, params, node_name="policy_node")
	is_active (self)
	active (self, value)
	activate_policy (self, request, response)
	get_sensor_msg_type (self, msg_type)
	get_command_msg_type (self, msg_type)
	register_sensors (self)
	register_command (self)
	forward ()

Public Attributes
	logger = self.get_logger()
	param_listener = params.ParamListener(self)
	params = self.param_listener.get_params()
	activate_policy_service
list	sensor_subs = []
	sensor_sync
	forward
	command_pub

Protected Attributes
bool	_is_active = False

Detailed Description

An abstract base class for deploying learnt policies.

Definition at line 54 of file policy.py.

Constructor & Destructor Documentation

__init__()

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

Initialise the policy.

Definition at line 57 of file policy.py.

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Member Function Documentation

activate_policy()

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()

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()

moveit.policies.policy.Policy.forward

(

)

Perform a forward pass of the policy.

Definition at line 148 of file policy.py.

get_command_msg_type()

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()

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()

moveit.policies.policy.Policy.is_active

(

self

)

Returns True if the policy is active.

Definition at line 81 of file policy.py.

register_command()

moveit.policies.policy.Policy.register_command

(

self

)

Register the topic to publish actions to.

Definition at line 139 of file policy.py.

register_sensors()

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

_is_active

bool moveit.policies.policy.Policy._is_active = False

protected

Definition at line 67 of file policy.py.

activate_policy_service

moveit.policies.policy.Policy.activate_policy_service

Initial value:

=  self.create_service(
            SetBool,
            "activate_policy",
            self.activate_policy,
        )

Definition at line 68 of file policy.py.

command_pub

moveit.policies.policy.Policy.command_pub

Initial value:

=  self.create_publisher(
            self.get_command_msg_type(self.params.command.type),
            self.params.command.topic,
            QoSProfile(depth=self.params.command.qos),
        )

Definition at line 141 of file policy.py.

forward

moveit.policies.policy.Policy.forward

Definition at line 137 of file policy.py.

logger

moveit.policies.policy.Policy.logger = self.get_logger()

Definition at line 60 of file policy.py.

param_listener

moveit.policies.policy.Policy.param_listener = params.ParamListener(self)

Definition at line 63 of file policy.py.

params

moveit.policies.policy.Policy.params = self.param_listener.get_params()

Definition at line 64 of file policy.py.

sensor_subs

list moveit.policies.policy.Policy.sensor_subs = []

Definition at line 115 of file policy.py.

sensor_sync

moveit.policies.policy.Policy.sensor_sync

Initial value:

=  message_filters.ApproximateTimeSynchronizer(
            self.sensor_subs,
            self.params.sensor_queue,
            self.params.sensor_slop,
        )

Definition at line 130 of file policy.py.

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

• moveit_py/moveit/policies/policy.py