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. ::.
`CartesianPrecision`	precision for Cartesian interpolation
`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