pymoveit_mtc.core.Merger

class Merger(self: pymoveit_mtc.core.Merger, name: str = 'merger')

Bases: ParallelContainerBase

Plan for different sub tasks in parallel and eventually merge all sub solutions into a single trajectory This requires all children to operate on disjoint JointModelGroups.

See How-To-Guides for an example.

Methods

add

Insert a stage at the end of the current children list

clear

Remove all stages from the container

init

Initialize the stage once before planning.

insert

Insert a stage before the given index into the children list

remove

Overloaded function.

reset

Reset the Stage.

setCostTerm

Overloaded function.

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
__getitem__(*args, **kwargs)

Overloaded function.

  1. __getitem__(self: pymoveit_mtc.core.ContainerBase, arg0: str) -> pymoveit_mtc.core.Stage

  2. __getitem__(self: pymoveit_mtc.core.ContainerBase, arg0: int) -> pymoveit_mtc.core.Stage

__iter__(self: pymoveit_mtc.core.ContainerBase) Iterator[pymoveit_mtc.core.Stage]
__len__(self: pymoveit_mtc.core.ContainerBase) int
add(self: pymoveit_mtc.core.ContainerBase, *args) None

Insert a stage at the end of the current children list

clear(self: pymoveit_mtc.core.ContainerBase) None

Remove all stages from the container

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.

insert(self: pymoveit_mtc.core.ContainerBase, stage: pymoveit_mtc.core.Stage, before: int = -1) None

Insert a stage before the given index into the children list

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

remove(*args, **kwargs)

Overloaded function.

  1. remove(self: pymoveit_mtc.core.ContainerBase, pos: int) -> pymoveit_mtc.core.Stage

Remove child stage by index

  1. remove(self: pymoveit_mtc.core.ContainerBase, child: pymoveit_mtc.core.Stage) -> pymoveit_mtc.core.Stage

Remove child stage by instance

reset(self: pymoveit_mtc.core.Stage) None

Reset the Stage. Clears all solutions, interfaces and inherited properties

setCostTerm(*args, **kwargs)

Overloaded function.

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

Specify a CostTerm for calculation of stage costs

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

Specify a function to calculate trajectory costs

  1. 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)

property timeout

Maximally allowed time [s] per computation step

Type:

float