Coverage for src/pyroboplan/core/planning_context.py: 0%

1import pinocchio 

2 

3 

4class PlanningContext: 

5 """ 

6 Defines a planning context, which contains Pinocchio models and necessary utilities for motion planning. 

7 """ 

8 

9 def __init__(self, model, visual_model=None, collision_model=None): 

10 """ 

11 Creates a planning context instance given a set of Pinocchio models. 

12 """ 

13 self.model = model 

14 self.visual_model = visual_model 

15 self.collision_model = collision_model 

16 

17 self.data = model.createData() 

18 self.collision_data = collision_model.createData()