pymoveit_mtc.core

Provides wrappers for core C++ classes. Import as moveit.task_constructor.core.

Classes

Alternatives	Plan for different alternatives in parallel.
CartesianPath	Perform linear interpolation between Cartesian poses. Fails on collision along the interpolation path. There is no obstacle avoidance. ::.
Clearance	Computes inverse distance to collision objects
ContainerBase	Abstract base class for container stages Containers allow encapsulation and reuse of planning functionality in a hierachical fashion.
CostTerm	Base class for cost calculation in stages
DistanceToReference	Computes joint-based distance to reference pose
Fallbacks	Plan for different alternatives in sequence Try to find feasible solutions using the children in sequence.
Generator	Base class for generator-like stages
InterfaceState	Describes a potential start or goal state of a Stage.
JointInterpolationPlanner	Perform linear interpolation between joint space poses. Fails on collision along the interpolation path. There is no obstacle avoidance. ::.
LinkMotion	Computes Cartesian path length of given link along trajectory
Merger	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.
MonitoringGenerator	Base class for monitoring generator stages
MoveItErrorCode	Encapsulates moveit error code message
MultiPlanner	A meta planner that runs multiple alternative planners in sequence and returns the first found solution. ::.
ParallelContainerBase	Abstract base class for parallel containers
PathLength	Computes joint-based path length along trajectory
PipelinePlanner	Plan using MoveIt's PlanningPipeline
PlannerInterface	Abstract base class for planning algorithms
PropagatingBackward	Base class for backward-propagating stages
PropagatingEitherWay	Base class for propagator-like stages
PropagatingForward	Base class for forward-propagating stages
Property	Holds an arbitrarily typed value and a default value
PropertyMap	Dictionary of named properties
SerialContainer	Container implementing a linear planning sequence
Solution	Abstract base class for solutions of a stage
Solutions	Cost-ordered list of solutions
Stage	Abstract base class of all stages.
SubTrajectory	Solution trajectory connecting two InterfaceStates of a stage
Task	Root stage of a planning pipeline.
TrajectoryCostTerm	Base class for cost calculation of trajectories
TrajectoryDuration	Computes duration of trajectory
WrapperBase	Base class for wrapping containers, which can be used to filter or modify solutions generated by the single child.

Exceptions

InitStageError