roboplan_ros_py.trajectory_publisher
====================================

.. py:module:: roboplan_ros_py.trajectory_publisher


Classes
-------

.. autoapisummary::

   roboplan_ros_py.trajectory_publisher.TrajectoryPublisher


Module Contents
---------------

.. py:class:: TrajectoryPublisher(scene, visualizer, marker_pub, q_indices)

   Threaded trajectory playback via ROS marker visualization.

   Publishes trajectory waypoints as marker arrays at a fixed rate,
   allowing visual preview of planned motions without requiring a
   ROS node for timer management.

   Construct a trajectory publisher.

   Manages threaded playback of roboplan trajectories, publishing
   visualization markers at each waypoint. Does not require a ROS
   node, but consumers must bring their own publisher.

   :param scene: RoboPlan Scene object.
   :param visualizer: RoboplanVisualizer for generating marker arrays.
   :param marker_pub: ROS publisher for MarkerArray messages.
   :param q_indices: Joint group indices into the full configuration vector.


   .. py:attribute:: _scene


   .. py:attribute:: _visualizer


   .. py:attribute:: _marker_pub


   .. py:attribute:: _q_indices


   .. py:attribute:: _thread
      :value: None



   .. py:attribute:: _stop_event


   .. py:attribute:: _on_complete
      :value: None



   .. py:method:: play(trajectory, dt=0.01, on_complete=None)

      Start publishing trajectory waypoints as markers.

      Stops any active playback before starting. Waypoints are published
      at a fixed interval on a background thread.

      :param trajectory: A roboplan JointTrajectory.
      :param dt: Time in seconds between published waypoints.
      :param on_complete: Optional callback invoked when playback finishes.



   .. py:method:: stop()