moveit.core.planning_scene
Classes
Representation of the environment as seen by a planning instance. |
- class moveit.core.planning_scene.PlanningScene
Representation of the environment as seen by a planning instance. The environment geometry, the robot geometry and state are maintained.
- property allowed_collision_matrix
- apply_collision_object()
Apply a collision object to the planning scene.
- Parameters:
object (moveit_msgs.msg.CollisionObject) – The collision object to apply to the planning scene.
color (moveit_msgs.msg.ObjectColor, optional) – The color of the collision object. Defaults to None if not specified.
- check_collision()
Check whether the current state is in collision, and if needed, updates the collision transforms of the current state before the computation.
- Parameters:
collision_request (
moveit_py.core.CollisionRequest) – The collision request to use.collision_result (
moveit_py.core.CollisionResult) – The collision result to update
- Returns:
bool – true if state is in collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
state ()
- Returns:
bool – true if state is in collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
state ()
acm ()
- Returns:
bool – true if state is in collision otherwise false.
- check_collision_unpadded()
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
- Returns:
bool – true if state is in collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
state ()
- Returns:
bool – true if state is in collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
state ()
acm ()
- Returns:
bool – true if state is in collision otherwise false.
- check_self_collision()
Check if the robot state is in collision.
- Parameters:
collision_request ()
collision_result ()
- Returns:
bool – true if state is in collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision request ()
collision_result ()
state ()
- Returns:
bool – true if state is in self collision otherwise false.
Check if the robot state is in collision.
- Parameters:
collision request ()
collision_result ()
state ()
acm()
- Returns:
bool – true if state is in self collision otherwise false.
- property current_state
The current state of the robot.
- Type:
moveit_py.core.RobotState
- get_frame_transform()
Get the transform corresponding to the frame id. This will be known if id is a link name, an attached body id or a collision object. Return identity when no transform is available.
- Parameters:
frame_id (str) – The frame id to get the transform for.
- Returns:
numpy.ndarray– The transform corresponding to the frame id.
- is_path_valid()
Check if a given path is valid. Each state is checked for validity (collision avoidance and feasibility)
- Parameters:
trajectory (
moveit_py.core.RobotTrajectory) – The trajectory to check.joint_model_group_name (str) – The joint model group to check the path against.
verbose (bool)
invalid_index (list)
- Returns:
bool – true if the path is valid otherwise false.
- is_state_colliding()
Check if the robot state is in collision.
- Parameters:
joint_model_group_name (str) – The name of the group to check collision for.
verbose (bool) – If true, print the link names of the links in collision.
- Returns:
bool – True if the robot state is in collision, false otherwise.
Check if the robot state is in collision.
- Parameters:
robot_state (
moveit_py.core.RobotState) – The robot state to check collision for.joint_model_group_name (str) – The name of the group to check collision for.
verbose (bool) – If true, print the link names of the links in collision.
- Returns:
bool – True if the robot state is in collision, false otherwise.
- is_state_constrained()
Check if the robot state fulfills the passed constraints
- Parameters:
state (moveit_py.core.RobotState) – The robot state to check constraints for.
constraints (moveit_msgs.msg.Constraints) – The constraints to check.
verbose (bool)
- Returns:
bool – true if state is constrained otherwise false.
- is_state_valid()
- knows_frame_transform()
Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
- Parameters:
robot_state (
moveit_py.core.RobotState) – The robot state to check.frame_id (str) – The frame id to check.
- Returns:
bool – True if the transform is known, false otherwise.
Check if a transform to the frame id is known. This will be known if id is a link name, an attached body id or a collision object.
- Parameters:
frame_id (str) – The frame id to check.
- Returns:
bool – True if the transform is known, false otherwise.
- property name
The name of the planning scene.
- Type:
str
- property planning_frame
The frame in which planning is performed.
- Type:
str
- property planning_scene_message
- process_attached_collision_object()
Apply an attached collision object to the planning scene.
- Parameters:
object (moveit_msgs.msg.AttachedCollisionObject) – The attached collision object to apply to the planning scene.
- process_octomap()
Apply an octomap to the planning scene.
- Parameters:
octomap (moveit_msgs.msg.Octomap) – The octomap to apply to the planning scene.
- process_planning_scene_world()
Process a planning scene world message.
- Parameters:
msg (
moveit_msgs.msg.PlanningSceneWorld) – The planning scene world message.
- remove_all_collision_objects()
Removes collision objects from the planning scene. This method will remove all collision object from the scene except for attached collision objects.
- property robot_model
The robot model associated to this planning scene.
- Type:
moveit_py.core.RobotModel
- set_object_color()
Set the color of a collision object.
- Parameters:
object_id (str) – The id of the collision object to set the color of.
color (std_msgs.msg.ObjectColor) – The color of the collision object.
- property transforms