PlanCartesianMotion.plan_cartesian_motion
- PlanCartesianMotion.plan_cartesian_motion(robot, frames_WCF, start_configuration=None, group=None, options=None)[source]
Calculates a cartesian motion path (linear in tool space).
- Parameters:
- robot
compas_fab.robots.Robot The robot instance for which the cartesian motion path is being calculated.
- frames_WCF: list of :class:`compas.geometry.Frame`
The frames through which the path is defined.
- start_configuration: :class:`Configuration`, optional
The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.
- group: str, optional
The planning group used for calculation.
- options: dict, optional
Dictionary containing kwargs for arguments specific to the client being queried.
- robot
- Returns:
compas_fab.robots.JointTrajectoryThe calculated trajectory.