Constraint

class compas_fab.robots.Constraint(constraint_type, weight=1.0)[source]

Bases: object

Base class for robot constraints.

Parameters

  • constraint_type – Constraint type, one of Constraint.CONSTRAINT_TYPES.

  • weight (float, optional) – A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important. Defaults to 1.

Attributes

  • constraint_type – Constraint type, one of Constraint.CONSTRAINT_TYPES.

  • weight (float) – A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important.

Class Attributes

  • JOINT – Joint constraint type.

  • POSITION – Positional constraint type.

  • ORIENTATION – Orientational constraint type.

  • CONSTRAINT_TYPES – List of possible constraint types.

Methods

__init__(constraint_type[, weight])

Initialize self.

copy()

Create a copy of this Constraint.

scale(scale_factor)

Scale the Constraint.

scaled(scale_factor)

Get a scaled copy of this Constraint.

transform(transformation)

Transform the Constraint.

Attributes

CONSTRAINT_TYPES

List of possible constraint types.

JOINT

Joint constraint type.

ORIENTATION

Orientational constraint type.

POSITION

Positional constraint type.