MoveItPlanner

class compas_fab.backends.MoveItPlanner

Bases: MoveItForwardKinematics, MoveItInverseKinematics, MoveItPlanMotion, MoveItPlanCartesianMotion, MoveItPlanningScene, MoveItResetPlanningScene, MoveItAddCollisionMesh, MoveItRemoveCollisionMesh, MoveItAppendCollisionMesh, MoveItAddAttachedCollisionMesh, MoveItRemoveAttachedCollisionMesh, PlannerInterface

Implement the planner backend interface based on MoveIt!

Inherited Methods

add_attached_collision_mesh	Add a collision mesh and attach it to the robot.
add_attached_collision_mesh_async
add_collision_mesh	Add a collision mesh to the planning scene.
add_collision_mesh_async
append_collision_mesh	Append a collision mesh to the planning scene.
append_collision_mesh_async
forward_kinematics	Calculate the robot's forward kinematic.
forward_kinematics_async	Asynchronous handler of MoveIt FK service.
get_planning_scene	Retrieve the planning scene.
get_planning_scene_async
inverse_kinematics	Calculate the robot's inverse kinematic for a given frame.
inverse_kinematics_async	Asynchronous handler of MoveIt IK service.
plan_cartesian_motion	Calculates a cartesian motion path (linear in tool space).
plan_cartesian_motion_with_frame_waypoints_async	Asynchronous handler of MoveIt cartesian motion planner service.
plan_cartesian_motion_with_point_axis_waypoints_async	Asynchronous handler of MoveIt cartesian motion planner service.
plan_motion	Calculates a motion path.
plan_motion_async	Asynchronous handler of MoveIt motion planner service.
remove_attached_collision_mesh	Remove an attached collision mesh from the robot.
remove_attached_collision_mesh_async
remove_collision_mesh	Remove a collision mesh from the planning scene.
remove_collision_mesh_async
reset_planning_scene	Resets the planning scene, removing all added collision meshes.
reset_planning_scene_async