pymoveit_mtc.core.DistanceToReference

class DistanceToReference(*args, **kwargs)

Bases: TrajectoryCostTerm

Computes joint-based distance to reference pose

Overloaded function.

1. __init__(self: pymoveit_mtc.core.DistanceToReference, reference: moveit_msgs::RobotState_<std::allocator<void> >, mode: pymoveit_mtc.core.TrajectoryCostTerm.Mode = <Mode.AUTO: 0>, weights: dict[str, float] = {}) -> None

2. __init__(self: pymoveit_mtc.core.DistanceToReference, reference: dict[str, float], mode: pymoveit_mtc.core.TrajectoryCostTerm.Mode = <Mode.AUTO: 0>, weights: dict[str, float] = {}) -> None

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