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
Interface for all backend clients. |
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Interface for all planners associated with a backend client. |
Feature interfaces
Interface for a Planner’s forward kinematics feature. |
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Interface for a Planner’s inverse kinematics feature. |
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Interface for a Planner’s plan motion feature. |
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Interface for a Planner’s plan cartesian motion feature. |
Planning scene interfaces
Interface for a Planner’s get planning scene feature. |
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Interface for a Planner’s add collision mesh feature. |
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Interface for a Planner’s append collision mesh feature. |
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Interface for a Planner’s remove collision mesh feature. |
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Interface for a Planner’s add attached collision mesh feature. |
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Interface for a Planner’s remove attached collision mesh feature. |
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Interface for a Planner’s reset planning scene feature. |