pymoveit_mtc.stages.FixedState

class FixedState(self: pymoveit_mtc.stages.FixedState, name: str = 'fixed state')

Bases: Stage

Spawn a pre-defined PlanningScene state.

Take a look at the How-To-Guides for an implementation of a task hierarchy that makes use of the FixedState stage.

Methods

init	Initialize the stage once before planning.
reset	Reset the Stage.
setCostTerm	Overloaded function.
setState	Use a planning scene pointer to specify which state the Fixed State stage should have.

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. in rviz.
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

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.

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

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

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

Specify a function to calculate trajectory costs

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

Specify a function to calculate trajectory costs

setState(self: pymoveit_mtc.stages.FixedState, scene: planning_scene::PlanningScene) → None

Use a planning scene pointer to specify which state the Fixed State stage should have.

property solutions

Successful Solutions of the stage (read-only)

property timeout

Maximally allowed time [s] per computation step

Type:

float