CollisionMesh

class compas_fab.robots.CollisionMesh[source]

Bases: Data

Represents a collision mesh.

Parameters:

meshcompas.datastructures.Mesh: The collision mesh. Ideally it is as coarse as possible.
idstr: The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)
framecompas.geometry.Frame, optional: The frame of the mesh. Defaults to compas.geometry.Frame.worldXY().
root_namestr: The name of the root link the collision mesh will be placed in. Defaults to 'world'.

Attributes:

meshcompas.datastructures.Mesh: The collision mesh. Ideally it is as coarse as possible.
idstr: The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)
framecompas.geometry.Frame, optional: The frame of the mesh. Defaults to compas.geometry.Frame.worldXY().
root_namestr: The name of the root link the collision mesh will be placed in. Defaults to 'world'.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
>>> cm = CollisionMesh(mesh, "floor")
>>> cm.frame
Frame(point=Point(x=0.0, y=0.0, z=0.0), xaxis=Vector(x=1.0, y=0.0, z=0.0), yaxis=Vector(x=0.0, y=1.0, z=0.0))

Methods

`scale`	Scales the collision mesh uniformly.
`scaled`	Copies the collision mesh, and scales the copy uniformly.

Inherited Methods

`ToString`	Converts the instance to a string.
`copy`	Make an independent copy of the data object.
`from_json`	Construct an object of this type from a JSON file.
`from_jsonstring`	Construct an object of this type from a JSON string.
`sha256`	Compute a hash of the data for comparison during version control using the sha256 algorithm.
`to_json`	Convert an object to its native data representation and save it to a JSON file.
`to_jsonstring`	Convert an object to its native data representation and save it to a JSON string.
`validate_data`	Validate the data against the object's data schema.