Configuration

class compas_fab.robots.Configuration(values=None, types=None)[source]

Bases: object

Represents the configuration of a robot based on the state of its joints. This concept is also refered to as Joint State.

values

Joint values expressed in radians or meters, depending on the respective type.

Type: list of float

types

Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.

Type: list of compas.robots.Joint.TYPE

Examples

>>> config = Configuration.from_revolute_values([math.pi/2, 0., 0.])
>>> config.values
[1.5707963267948966, 0.0, 0.0]

>>> from compas_fab.robots import Configuration
>>> config = Configuration.from_prismatic_and_revolute_values([8.312], [math.pi/2, 0., 0., 0., 2*math.pi, 0.8])
>>> str(config)
'Configuration((8.312, 1.571, 0.000, 0.000, 0.000, 6.283, 0.800), (2, 0, 0, 0, 0, 0, 0))'

>>> from compas_fab.robots import Configuration
>>> from compas.robots import Joint
>>> config = Configuration([math.pi/2, 3., 0.1], [Joint.REVOLUTE, Joint.PRISMATIC, Joint.PLANAR])
>>> str(config)
'Configuration((1.571, 3.000, 0.100), (0, 2, 5))'

Methods

`__init__`([values, types])	Initialize self.
`copy`()
`from_data`(data)	Construct a configuration from its data representation.
`from_prismatic_and_revolute_values`(…)	Construct a configuration from prismatic and revolute joint values.
`from_revolute_values`(values)	Construct a configuration from revolute joint values in radians.
`scale`(scale_factor)	Scales the joint positions of the current configuration.
`to_data`()	Return the data dictionary that represents the configuration, and from which it can be reconstructed.

Attributes

`data`	The data representing the configuration.
`prismatic_values`	Prismatic joint values in meters.
`revolute_values`	Revolute joint values in radians.

__init__(values=None, types=None)[source]: Initialize self. See help(type(self)) for accurate signature.