moveit_task_constructor/core/doc/index.rst
Christian Petersmeier 1f330bed89 Reformat Documentation
- create tutorial, how-to-guide, topic and reference chapters
  - move implementation examples from api documentation into
    how-to-guides
  - create a documentation overview on the first page
2022-03-10 13:33:10 +01:00

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MoveIt Task Constructor (MTC)
=============================
The Task Constructor framework provides a flexible and transparent way
to define and plan actions that consist of multiple interdependent subtasks.
It draws on the planning capabilities of MoveIt to solve individual subproblems
in black-box planning stages.
A common interface, based on MoveIts PlanningScene is used to pass solution
hypotheses between stages. The framework enables the hierarchical organization of
basic stages using containers, allowing for sequential as well as parallel compositions.
For more details, please refer to the associated `ICRA 2019 publication <https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf>`_.
How the documentation is organized
----------------------------------
- :ref:`sec-tutorials` guide you
through the initial learning process of setting up a task pipeline.
Take a look at the :ref:`first steps <subsec-tut-firststeps>` if you
are new to the moveit task constructor.
- :ref:`sec-concepts` discuss the architecture and terminology
of the moveit task constructor on a fairly high level.
- :ref:`sec-howtoguides` help you to solve
specific problems and use cases you might encounter.
- The :ref:`sec-api` provides
technical details of the python package. You may
look up definitions here and should already
have a basic understanding of the key concepts.
.. toctree::
:maxdepth: 2
:hidden:
tutorials
concepts
howtoguides
reference