pymoveit_mtc.core.Generator¶

class Generator(self: pymoveit_mtc.core.Generator, name: str = 'Generator')¶

Bases: Stage

Base class for generator-like stages

Derive from this stage to implement a custom generator stage that can produce new seed states w/o prior knowledge. Implement the virtual methods as follows:

class MyGenerator(core.Generator):
        """Implements a custom 'Generator' stage that produces maximally 3 solutions."""

        def __init__(self, name="Generator"):
                core.Generator.__init__(self, name)
                self.reset()

        def init(self, robot_model):
                self.ps = PlanningScene(robot_model)

        def reset(self):
                core.Generator.reset(self)

        def canCompute(self):
                return len(self.solutions) < 3  # maximally produce 3 solutions

        def compute(self):
                self.spawn(core.InterfaceState(self.ps), cost=len(self.solutions))

Methods

`canCompute`	Return `True` if the stage can still produce solutions.
`compute`	Compute an actual solution and `spawn` an `InterfaceState`
`init`	Initialize the stage once before planning.
`reset`	Reset the Stage.
`setCostTerm`	Overloaded function.
`spawn`	Spawn an `InterfaceState` to both, start and end interface

Attributes

`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`marker_ns`	Namespace for any markers that are associated to the stage
`name`	name of the stage displayed e.g.
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)
`timeout`	Maximally allowed time [s] per computation step

class PropertyInitializerSource(self: pymoveit_mtc.core.Stage.PropertyInitializerSource, value: int)¶

Bases: pybind11_object

OR-combinable flags defining a source to initialize a specific property from. Used in pymoveit_mtc.core.PropertyMap configureInitFrom().

Members:

PARENT : Inherit properties from parent stage

INTERFACE : Inherit properties from the input InterfaceState

property name¶

canCompute(self: pymoveit_mtc.core.Generator) → bool¶: Return True if the stage can still produce solutions.

compute(self: pymoveit_mtc.core.Generator) → None¶: Compute an actual solution and spawn an InterfaceState

property failures¶

Failed Solutions of the stage (read-only)

Type:: Solutions

property forwarded_properties¶

set of properties forwarded from input to output InterfaceState

Type:: list

init(self: pymoveit_mtc.core.Stage, robot_model: moveit::core::RobotModel) → None¶: Initialize the stage once before planning. Will setup properties configured for initialization from parent.

property marker_ns¶

Namespace for any markers that are associated to the stage

Type:: str

property name¶

name of the stage displayed e.g. in rviz

Type:: str

property properties¶

PropertyMap of the stage (read-only)

Type:: PropertyMap

reset(self: pymoveit_mtc.core.Stage) → None¶: Reset the Stage. Clears all solutions, interfaces and inherited properties

setCostTerm(*args, **kwargs)¶

Overloaded function.

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: pymoveit_mtc.core.CostTerm) -> None

Specify a CostTerm for calculation of stage costs

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory, str], float]) -> None

Specify a function to calculate trajectory costs

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory], float]) -> None

Specify a function to calculate trajectory costs

property solutions¶: Successful Solutions of the stage (read-only)

spawn(self: pymoveit_mtc.core.Generator, state: pymoveit_mtc.core.InterfaceState, cost: float) → None¶: Spawn an InterfaceState to both, start and end interface

property timeout¶

Maximally allowed time [s] per computation step

Type:: float