Inheritance diagram for moveit.policies.policy.Policy:

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Collaboration diagram for moveit.policies.policy.Policy:

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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

	param_listener

	params

	activate_policy_service

	activate_policy

	sensor_subs

	sensor_sync

	forward

	command_pub

Protected Attributes
	_is_active

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

moveit.policies.policy.Policy._is_active

protected

Definition at line 67 of file policy.py.

◆ activate_policy

moveit.policies.policy.Policy.activate_policy

Definition at line 71 of file policy.py.

◆ 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.

◆ forward

moveit.policies.policy.Policy.forward

Definition at line 137 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

Protected Attributes