pymoveit_mtc.core.MultiPlanner¶

A meta planner that runs multiple alternative planners in sequence and returns the first found solution.

from moveit.task_constructor import core

# Instantiate MultiPlanner
multiPlanner = core.MultiPlanner()

Methods

`add`	Insert one or more planners
`clear`	Remove all planners

Attributes

`max_acceleration_scaling_factor`	Reduce the maximum acceleration by scaling between (0,1]
`max_velocity_scaling_factor`	Reduce the maximum velocity by scaling between (0,1]
`properties`	Properties of the planner

__getitem__(self: pymoveit_mtc.core.MultiPlanner, arg0: int) → pymoveit_mtc.core.PlannerInterface¶

__len__(self: std::vector<std::shared_ptr<moveit::task_constructor::solvers::PlannerInterface>, std::allocator<std::shared_ptr<moveit::task_constructor::solvers::PlannerInterface> > >) → int¶

add(self: pymoveit_mtc.core.MultiPlanner, *args) → None¶: Insert one or more planners

property max_acceleration_scaling_factor¶

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

property max_velocity_scaling_factor¶

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