Constraint

class compas_fab.robots.Constraint[source]

Bases: Data

Base class for robot constraints.

Parameters:

constraint_type: Constraint type, one of Constraint.CONSTRAINT_TYPES.
weightfloat, optional: A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important. Defaults to 1.

Notes

Constraint.JOINT: Joint constraint type.
Constraint.POSITION: Positional constraint type.
Constraint.ORIENTATION: Orientational constraint type.
Constraint.CONSTRAINT_TYPES: List of possible constraint types.

Attributes:

constraint_type: Constraint type, one of Constraint.CONSTRAINT_TYPES.
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 `Constraint`.
`scale`	Scale the `Constraint`.
`scaled`	Get a scaled copy of this `Constraint`.
`transform`	Transform the `Constraint`.

Inherited Methods

`ToString`	Converts the instance to a string.
`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.