Waypoints
- class unified_planning.model.motion.Waypoints(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: Dict[MovableObject, FNode] | None = None, dynamic_obstacles_at_start: Dict[MovableObject, FNode] | None = None, environment: Environment | None = None)[source]
Bases:
MotionConstraintThis class represents a waypoints contraint.
The waypoints constraint 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.
static_obstacles is a dictionary that maps those movable obstacles that remain static during the existence of the constraint with their configurations. dynamic_obstacles_at_start is a dictionary that maps those movable obstacles that may move during the existence of the constraint with their configurations at the beginning of the constraint.
- 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: Dict[MovableObject, FNode] | None
Returns the set of MovableObject associated with the fluent expressions that represent their configuration during all the constraint (static obstacles).
- property dynamic_obstacles_at_start: Dict[MovableObject, FNode] | None
Returns the set of MovableObject associated with the fluent expressions that represent their configuration at the beginning of the constraint (possibly dynamic obstacles).
- property environment: Environment
Returns the Environment in which this MotionConstraint exists.