Collision

class compas.robots.Collision(geometry, origin=None, name=None, **kwargs)[source]

Bases: LinkItem, Data

Collidable description of a link.

Attributes
  • geometry – Shape of the collidable element.

  • origin – Reference frame of the collidable element with respect to the reference frame of the link.

  • name – Name of the collidable element.

  • attr – Non-standard attributes.

Methods

from_data

Construct an object of this type from the provided data.

from_primitive

Create collision link from a primitive shape.

get_urdf_element

Inherited Methods

ToString

Converts the instance to a string.

copy

Make an independent copy of the data object.

from_json

Construct an object from serialized data contained in a JSON file.

from_jsonstring

Construct an object from serialized data contained in a JSON string.

sha256

Compute a hash of the data for comparison during version control using the sha256 algorithm.

to_data

Convert an object to its native data representation.

to_json

Serialize the data representation of an object to a JSON file.

to_jsonstring

Serialize the data representation of an object to a JSON string.

validate_data

Validate the object's data against its data schema.

validate_json

Validate the object's data against its json schema.