MovableObject

class unified_planning.model.motion.MovableObject(name: str, typename: Type, *, footprint: List[Tuple[float, float]] | None = None, geometric_model: str | None = None, motion_model: MotionModels, motion_parameters: Dict[str, Any] | None = None, control_model: Callable | None = None, control_parameters: Dict[str, Any] | None = None, env: Environment | None = None)[source]

Bases: Object

This class represents a movable object.

A movable object is an object able to move in an environment according to a certain motion model. Such an object is characterized by a certain geometry as well as a kinematic and dynamic model.

property geometric_model: str | None: Returns the geometric model of this MovableObject (i.e., its geometry, kinematic model, and dynamic model).

property footprint: List[Tuple[float, float]] | None: Returns the footprint of this MovableObject.

property motion_model: MotionModels: Returns the motion model of this MovableObject.

property motion_parameters: Dict[str, Any] | None: Returns the dict of motion parameters of the motion model of this MovableObject.

property control_model: Callable | None: Returns the control model of this MovableObject.

property control_parameters: Dict[str, Any] | None: Returns the dict of control parameters of the motion model of this MovableObject.

Equals(right)

property environment: Environment: Return the Object Environment

property name: str: Returns the Object name.

property type: Type: Returns the Object Type.