PositionConstraint

class compas_fab.robots.PositionConstraint

Bases: Constraint

Constrains a link to be within a certain bounding volume.

Parameters:

link_namestr

The name of the link this contraint refers to.

bounding_volumeBoundingVolume

The volume this constraint refers to.

weightfloat, optional

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

Examples

>>> from compas.geometry import Sphere
>>> from compas_fab.robots import PositionConstraint
>>> from compas_fab.robots import BoundingVolume
>>> bv = BoundingVolume.from_sphere(Sphere(0.5, point=[3,4,5]))
>>> pc = PositionConstraint('link_0', bv, weight=1.)

Attributes:

link_namestr

The name of the link this contraint refers to.

bounding_volumeBoundingVolume

The volume this constraint refers to.

weightfloat

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

Methods

copy	Create a copy of this PositionConstraint.
from_box	Create a PositionConstraint from a compas.geometry.Box.
from_frame	Create a PositionConstraint from a frame on the group's end-effector link.
from_mesh	Create a PositionConstraint from a compas.datastructures.Mesh.
from_point	Create a PositionConstraint from a point.
from_sphere	Create a PositionConstraint from a compas.geometry.Sphere.
scale	Scale the bounding_volume uniformely.
transform	Transform the bounding_volume using a compas.geometry.Transformation.

Inherited Methods

ToString	Converts the instance to a string.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
scaled	Get a scaled copy of this Constraint.
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.