FrameWaypoints

class compas_fab.robots.FrameWaypoints

Bases: Waypoints

Represents a sequence of fully constrained pose target for the robot’s end-effector using a compas.geometry.Frame.

When using a FrameWaypoints, the end-effector has no translational or rotational freedom. In another words, the pose of the end-effector is fully defined (constrained).

The behavior of FrameWaypoints is similar to FrameTarget, but it represents a sequence of targets.

Attributes:

target_frameslist of compas.geometry.Frame

The target frames.

tolerance_positionfloat, optional

The tolerance for the position. Unit is meters. If not specified, the default value from the planner is used.

tolerance_orientationfloat, optional

The tolerance for the orientation. Unit is radians. 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 Waypoints’.

Methods

from_transformations	Creates a FrameWaypoints from a list of transformation matrices.
scaled	Returns a copy of the FrameWaypoints where the target frames and tolerances are scaled.

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.