PositionConstraint

class compas_fab.robots.PositionConstraint

Bases: Constraint

Constrains a link to be within a certain bounding volume.

Parameters:

link_namestr

The name of the link this contraint refers to.

bounding_volumeBoundingVolume

The volume this constraint refers to.

weightfloat, 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.geometry import Sphere
>>> from compas_fab.robots import PositionConstraint
>>> from compas_fab.robots import BoundingVolume
>>> bv = BoundingVolume.from_sphere(Sphere(0.5, point=[3,4,5]))
>>> pc = PositionConstraint('link_0', bv, weight=1.)

Attributes:

link_namestr

The name of the link this contraint refers to.

bounding_volumeBoundingVolume

The volume this constraint refers to.

weightfloat

A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important.

Methods

copy	Create a copy of this PositionConstraint.
from_box	Create a PositionConstraint from a compas.geometry.Box.
from_mesh	Create a class:PositionConstraint from a compas.datastructures.Mesh.
from_sphere	Create a PositionConstraint from a compas.geometry.Sphere.
scale	Scale the bounding_volume uniformely.
transform	Transform the bounding_volume using a compas.geometry.Transformation.

Inherited Methods

scaled

Get a scaled copy of this Constraint.