compas_fab.backends.interfaces

This package defines the interfaces required to integrate backends into the simulation, planning and execution pipeline of COMPAS FAB.

Client interfaces

ClientInterface

Interface for all backend clients.

PlannerInterface

Interface for all planners associated with a backend client.

Feature interfaces

ForwardKinematics

Interface for a Planner’s forward kinematics feature.

InverseKinematics

Interface for a Planner’s inverse kinematics feature.

PlanMotion

Interface for a Planner’s plan motion feature.

PlanCartesianMotion

Interface for a Planner’s plan cartesian motion feature.

Planning scene interfaces

GetPlanningScene

Interface for a Planner’s get planning scene feature.

AddCollisionMesh

Interface for a Planner’s add collision mesh feature.

AppendCollisionMesh

Interface for a Planner’s append collision mesh feature.

RemoveCollisionMesh

Interface for a Planner’s remove collision mesh feature.

AddAttachedCollisionMesh

Interface for a Planner’s add attached collision mesh feature.

RemoveAttachedCollisionMesh

Interface for a Planner’s remove attached collision mesh feature.

ResetPlanningScene

Interface for a Planner’s reset planning scene feature.