Source code for compas_fab.backends.vrep.planner
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
from compas_fab.backends.interfaces.client import forward_docstring
from compas_fab.backends.interfaces.client import PlannerInterface
from compas_fab.backends.vrep.backend_features.vrep_add_attached_collision_mesh import VrepAddAttachedCollisionMesh
from compas_fab.backends.vrep.backend_features.vrep_add_collision_mesh import VrepAddCollisionMesh
from compas_fab.backends.vrep.backend_features.vrep_forward_kinematics import VrepForwardKinematics
from compas_fab.backends.vrep.backend_features.vrep_inverse_kinematics import VrepInverseKinematics
from compas_fab.backends.vrep.backend_features.vrep_plan_motion import VrepPlanMotion
from compas_fab.backends.vrep.backend_features.vrep_remove_collision_mesh import VrepRemoveCollisionMesh
[docs]class VrepPlanner(PlannerInterface):
"""Implement the planner backend interface for V-REP
"""
[docs] def __init__(self, client):
super(VrepPlanner, self).__init__(client)
[docs] @forward_docstring(VrepForwardKinematics)
def forward_kinematics(self, *args, **kwargs):
return VrepForwardKinematics(self.client)(*args, **kwargs)
[docs] @forward_docstring(VrepInverseKinematics)
def inverse_kinematics(self, *args, **kwargs):
return VrepInverseKinematics(self.client)(*args, **kwargs)
[docs] @forward_docstring(VrepPlanMotion)
def plan_motion(self, *args, **kwargs):
return VrepPlanMotion(self.client)(*args, **kwargs)
[docs] @forward_docstring(VrepPlanMotion)
def plan_motion_to_config(self, *args, **kwargs):
return VrepPlanMotion(self.client).plan_motion_to_config(*args, **kwargs)
[docs] @forward_docstring(VrepAddAttachedCollisionMesh)
def add_attached_collision_mesh(self, *args, **kwargs):
return VrepAddAttachedCollisionMesh(self.client)(*args, **kwargs)
[docs] @forward_docstring(VrepAddAttachedCollisionMesh)
def pick_building_member(self, *args, **kwargs):
return VrepAddAttachedCollisionMesh(self.client).pick_building_member(*args, **kwargs)
[docs] @forward_docstring(VrepAddCollisionMesh)
def add_collision_mesh(self, *args, **kwargs):
return VrepAddCollisionMesh(self.client)(*args, **kwargs)
[docs] @forward_docstring(VrepRemoveCollisionMesh)
def remove_collision_mesh(self, *args, **kwargs):
return VrepRemoveCollisionMesh(self.client)(*args, **kwargs)