PointAxisWaypoints

class compas_fab.robots.PointAxisWaypoints

Bases: Waypoints

Represents a sequence of point and axis targets for the robot’s end-effector motion planning.

PointAxisTarget is suitable for tasks like drawing, milling, and 3D printing, where aligning the end-effector with a target axis is crucial, but the orientation around the axis is not important.

The behavior of PointAxisWaypoints is similar to PointAxisTarget, but it represents a sequence of targets. See PointAxisTarget for more details.

Attributes:

target_points_and_axeslist of tuple of (compas.geometry.Point, compas.geometry.Vector)

The target points and axes. Both values are defined relative to the world coordinate frame (WCF). Unitized vectors are recommended for the target axes.

tolerance_positionfloat, optional

The tolerance for the position of the target point. 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 coordinate frame of the robot. If not specified, the target point is relative to the robot’s flange (T0CF) and the Z axis of the flange can rotate around the target axis.

namestr, optional

The human-readable name of the target. Defaults to ‘Point-Axis Waypoints’.

Methods

scaled

Returns a copy of the target where the target points 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.