PositionConstraint.from_point

classmethod PositionConstraint.from_point(link_name, point, tolerance_position, weight=1.0)

Create a PositionConstraint from a point.

Parameters:

link_namestr

The name of the link this contraint refers to.

pointcompas.geometry.Point

Point defining the bounding volume this constraint refers to.

tolerance_positionfloat

The allowed tolerance to the point’s position (defined in the robot’s units).

weightfloat

A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important. Defaults to 1.

Returns:

PositionConstraint