pymoveit_mtc.core.JointInterpolationPlanner

class JointInterpolationPlanner(self: pymoveit_mtc.core.JointInterpolationPlanner)

Bases: PlannerInterface

Perform linear interpolation between joint space poses. Fails on collision along the interpolation path. There is no obstacle avoidance.

from moveit.task_constructor import core

# Instantiate joint-space interpolation planner
jointPlanner = core.JointInterpolationPlanner()
jointPlanner.max_step = 0.1

Methods

Attributes

max_acceleration_scaling_factor	Reduce the maximum acceleration by scaling between (0,1]
max_step	Limit any (single) joint change between two waypoints to this amount
max_velocity_scaling_factor	Reduce the maximum velocity by scaling between (0,1]
properties	Properties of the planner

property max_acceleration_scaling_factor

Reduce the maximum acceleration by scaling between (0,1]

Type:

float

property max_step

Limit any (single) joint change between two waypoints to this amount

Type:

float

property max_velocity_scaling_factor

Reduce the maximum velocity by scaling between (0,1]

Type:

float

property properties

Properties of the planner