embodichain.lab.sim.motion.planners
==========================================

.. automodule:: embodichain.lab.sim.motion.planners

  .. rubric:: Classes

  .. autosummary::
    BasePlannerCfg
    BasePlanner
    ToppraPlannerCfg
    ToppraPlanner
    TrajectorySampleMethod
    MovePart
    MoveType
    PlanResult
    PlanState

.. currentmodule:: embodichain.lab.sim.motion.planners

Base Planner
------------

.. autoclass:: BasePlannerCfg
    :members:
    :exclude-members: __init__, copy, replace, to_dict, validate

.. autoclass:: BasePlanner
    :members:
    :inherited-members:
    :show-inheritance:

Toppra Planner
--------------

.. autoclass:: ToppraPlannerCfg
    :members:
    :exclude-members: __init__, copy, replace, to_dict, validate

.. autoclass:: ToppraPlanner
    :members:
    :inherited-members:
    :show-inheritance:

Utilities
---------

.. autoclass:: TrajectorySampleMethod
    :members:
    :undoc-members:
    :show-inheritance:

.. autoclass:: MovePart
    :members:
    :undoc-members:
    :show-inheritance:

.. autoclass:: MoveType
    :members:
    :undoc-members:
    :show-inheritance:

.. autoclass:: PlanResult
    :members:
    :undoc-members:
    :show-inheritance:

.. autoclass:: PlanState
    :members:
    :undoc-members:
    :show-inheritance: