Waypoints

class compas_fab.robots.Waypoints

Bases: Data

Represents a sequence of kinematic target for motion planning.

Waypoints represent a sequence of targets the robot should pass through in the order they are defined. This is in contrast to Target which represent only a single target. The initial (starting) point should not be included in the waypoints list. It is valid for a Waypoints object to have one target.

Waypoints are useful for tasks like painting, welding, or 3D printing, where the programmer wants to define the waypoints the robot should pass through.

Waypoints are intended to be used for motion planning with a planning backend by using compas_fab.robot.plan_cartesian_motion(). Note that different backends support different types of waypoints. The method of interpolation between the waypoints is controlled by the motion planner backend.

See also

PointAxisWaypoints

FrameWaypoints

Attributes:

namestr , optional, default = ‘target’

A human-readable name for identifying the target.

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

The tool tip coordinate frame relative to the flange of the robot.

Methods

scaled

Returns a scaled copy of the waypoints.

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.