ConstraintSetTarget

class compas_fab.robots.ConstraintSetTarget

Bases: Target

Represents a list of Constraint as the target for motion planning.

Given a ConstraintSetTarget, the planner aims to find a path moving the robot’s end-effector to satisfy ALL the constraints in the constraint set. Constraints can be very specific, for example defining value domains for each joint, such that the goal configuration is included, or defining a volume in space, to which a specific robot link (e.g. the end-effector) is required to move to.

This target cannot be translated into a single pose or configuration target except in trivial cases. Therefore the ending pose or configuration of the planned path can only be determined after performing the motion planning.

ConstraintSetTarget is suitable for advanced users who want to specify custom constraints for the robot motion planning. Different planner backends may support different types of Constraints. See tutorial Targets and Waypoints for more details.

ConstraintSetTarget is only supported by Free motion planning, Cartesian motion planning do not support this target type.

Attributes:

constraint_setlist of compas_fab.robots.Constraint

A list of constraints to be satisfied.

namestr, optional

The human-readable name of the target. Defaults to ‘Constraint Set Target’.

Methods

scaled

Returns a scaled copy of the target.

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.