JointConstraint

class compas_fab.robots.JointConstraint(joint_name, value, tolerance_above=0.0, tolerance_below=0.0, weight=1.0)[source]

Bases: compas_fab.robots.constraints.Constraint

Constrains the value of a joint to be within a certain bound.

Attributes

joint_name (string) – The name of the joint this contraint refers to.
value (float) – The targeted value for that joint.
tolerance_above (float) – Tolerance above the targeted joint value, in radians. Defaults to 0.
tolerance_below (float) – Tolerance below the targeted joint value, in radians. Defaults to 0. The bound to be achieved is [value - tolerance_below, value + tolerance_above].
weight (float, optional) – A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important. Defaults to 1.

Examples

>>> from compas_fab.robots import JointConstraint
>>> jc = JointConstraint("joint_0", 1.4, 0.1, 0.1, 1.0)

Methods

Attributes