CollisionMesh

class compas_fab.robots.CollisionMesh

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'.

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))

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'.

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.