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)