FrameWaypoints.from_transformations

classmethod FrameWaypoints.from_transformations(transformations, tolerance_position=None, tolerance_orientation=None, tool_coordinate_frame=None, name='Frame Waypoints')

Creates a FrameWaypoints from a list of transformation matrices.

Parameters:

transformationslist of :class: compas.geometry.Transformation

The list of transformation matrices.

tolerance_positionfloat, optional

The tolerance for the position. if not specified, the default value from the planner is used.

tolerance_orientationfloat, optional

The tolerance for the orientation. if not specified, the default value from the planner is used.

tool_coordinate_framecompas.geometry.Frame or compas.geometry.Transformation, optional

The tool tip coordinate frame relative to the flange of the robot. If not specified, the target frame is relative to the robot’s flange.

namestr, optional

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

Returns:

FrameWaypoints

The frame waypoints.