AnalyticalPlanCartesianMotion.plan_cartesian_motion
- AnalyticalPlanCartesianMotion.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_WCFlist of
compas.geometry.Frame The frames through which the path is defined.
- start_configuration
compas_robots.Configuration, optional The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.
- groupstr, optional
The planning group used for calculation.
- optionsdict, optional
Dictionary containing kwargs for arguments specific to the client being queried.
- robot
- Returns:
compas_fab.robots.JointTrajectoryThe calculated trajectory.
Notes
This will only work with robots that have 6 revolute joints.