pymoveit_mtc.core.Clearance

class Clearance(self: pymoveit_mtc.core.Clearance, with_world: bool = True, cumulative: bool = False, group_property: str = 'group', mode: pymoveit_mtc.core.TrajectoryCostTerm.Mode = <Mode.AUTO: 0>)

Bases: TrajectoryCostTerm

Computes inverse distance to collision objects

Methods

class Mode(self: pymoveit_mtc.core.TrajectoryCostTerm.Mode, value: int)

Bases: pybind11_object

Specify which states are considered for collision checking

Members:

AUTO : TRAJECTORY (if available) or START_INTERFACE

START_INTERFACE : Only consider start state

END_INTERFACE : Only consider end state

TRAJECTORY : Consider whole trajectory

property name