PositionConstraint.from_sphere

classmethod PositionConstraint.from_sphere(link_name, sphere, weight=1.0)[source]

Create a PositionConstraint from a compas.geometry.Sphere.

Parameters

  • link_name (str) – The name of the link this contraint refers to.

  • sphere (compas.geometry.Sphere) – Sphere defining the bounding volume this constraint refers to.

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

Returns

PositionConstraint

Examples

>>> from compas_fab.robots import PositionConstraint
>>> from compas.geometry import Sphere
>>> sphere = Sphere((3,4,5), 0.5)
>>> pc = PositionConstraint.from_sphere('link_0', sphere, weight=1.)