Source code for pykin.planners.planner

from abc import ABC, abstractclassmethod

[docs]class Planner(ABC): """ Base Planner class Args: robot (SingleArm or Bimanual): The manipulator robot type is SingleArm or Bimanual obstacles (dictionary) : The obstacles """ def __init__( self, robot, obstacles ): self.robot = robot self.obstacles = obstacles
[docs] @abstractclassmethod def setup_start_goal_joint( self, current_q, goal_q, arm=None, transformation=None ): """ Setup start joints and goal joints Args: current_q(np.array or Iterable of floats): current joint angle goal_q(np.array or Iterable of floats): target joint angle obtained through Inverse Kinematics arm(str): If Manipulator types is bimanul, must put the arm type. init_transformation: Initial transformations """ raise NotImplementedError
[docs] @abstractclassmethod def generate_path(self): """ write planner algorithm you want """ raise NotImplementedError