PathVisualizer

class compas_fab.fab.grasshopper.path_planning.PathVisualizer(simulator, robot, building_member=None, building_member_pickup_config=None)

Bases: object

Handles the generation of meshes to visualize a full path plan in Rhino/Grasshopper.

_get_building_member_info(gripping_config)

_get_rfl_meshes(shape_handles)

debug

Indicates whether the path visualizer is in debug mode or not.

get_frame_meshes(path, frame, ctx)

Retrieves all meshes required to render a specific frame of a path plan.

Parameters:

• path (list of Configuration) – Represents a collision-free path to a goal pose. It is the output of the path planning generated by a Simulator object.
• frame (int) – Frame number to retrieve.
• ctx (dict) – A dictionary to keep context. Within Grasshopper, this is normally the sc.sticky object.

Returns:

list – list of Rhino meshes that can be used to visualize the selected frame.