pymoveit_mtc.core.SubTrajectory

class SubTrajectory(self: pymoveit_mtc.core.SubTrajectory)

Bases: Solution

Solution trajectory connecting two InterfaceStates of a stage

Methods

markAsFailure	Mark the SubTrajectory as a failure
toMsg	Convert to the ROS message Solution

Attributes

comment	Comment associated with the solution
cost	Cost associated with the solution
end	End of the trajectory (read-only)
isFailure	True if the trajectory is marked as a failure (read-only)
markers	Markers to visualize important aspects of the trajectory (read-only)
start	Start of the trajectory (read-only)
trajectory	Actual robot trajectory

property comment

Comment associated with the solution

Type:

str

property cost

Cost associated with the solution

Type:

float

property end

End of the trajectory (read-only)

Type:

InterfaceState

property isFailure

True if the trajectory is marked as a failure (read-only)

Type:

bool

markAsFailure(self: pymoveit_mtc.core.Solution, comment: str) → None

Mark the SubTrajectory as a failure

property markers

Markers to visualize important aspects of the trajectory (read-only)

Type:

Marker

property start

Start of the trajectory (read-only)

Type:

InterfaceState

toMsg(self: pymoveit_mtc.core.Solution) → moveit_task_constructor_msgs::Solution_<std::allocator<void> >

Convert to the ROS message Solution

property trajectory

Actual robot trajectory

Type:

RobotTrajectory