PlanCartesianMotion.plan_cartesian_motion
- PlanCartesianMotion.plan_cartesian_motion(robot, waypoints, start_configuration=None, group=None, options=None)[source]
Calculates a cartesian motion path (linear in tool space).
- Parameters:
- robot
compas_fab.robots.Robot The robot instance for which the cartesian motion path is being calculated.
- waypoints
compas_fab.robots.Waypoints The waypoints for the robot to follow.
- start_configuration
compas_robots.Configuration, optional The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.
- groupstr, optional
The planning group used for calculation.
- optionsdict, optional
Dictionary containing kwargs for arguments specific to the client being queried.
- robot
- Returns:
compas_fab.robots.JointTrajectoryThe calculated trajectory.