ActivityWaypoints
- class unified_planning.model.motion.ActivityWaypoints(movable: Timing | Timepoint | int | float | Fraction | FNode | Fluent | Parameter | Variable | Presence | bool | str | Object, starting: Timing | Timepoint | int | float | Fraction | FNode | Fluent | Parameter | Variable | Presence | bool | str | Object, waypoints: List[Timing | Timepoint | int | float | Fraction | FNode | Fluent | Parameter | Variable | Presence | bool | str | Object], static_obstacles: List[MovableObject] | Dict[MovableObject, Fluent] | None = None, dynamic_obstacles_at_start: List[MovableObject] | Dict[MovableObject, Fluent] | None = None, environment: Environment | None = None)[source]
Bases:
MotionConstraintThis class represents a waypoints constraint scoped to a scheduling activity.
Like Waypoints, it is a MotionConstraint representing the existence of a trajectory in the free configuration space of a movable object that lets it traverse a set of input waypoints starting from an initial configuration. Differently from Waypoints, its static_obstacles and dynamic_obstacles_at_start may be given either as a plain list of MovableObject or as a dict mapping each MovableObject to the Fluent describing its configuration.
- property starting: FNode
Returns the FNode representing the starting configuration of the involved movable object.
- property waypoints: List[FNode]
Returns the list of FNode representing the set of waypoints that the involved movable object should traverse.
- property static_obstacles: List[MovableObject] | Dict[MovableObject, Fluent] | None
Returns the MovableObject obstacles that remain static during all the constraint, either as a list or as a dict mapping each obstacle to the Fluent describing its configuration.
- property dynamic_obstacles_at_start: List[MovableObject] | Dict[MovableObject, Fluent] | None
Returns the MovableObject obstacles that may move during the constraint, considered at its beginning, either as a list or as a dict mapping each obstacle to the Fluent describing its configuration.
- property environment: Environment
Returns the Environment in which this MotionConstraint exists.