PositionConstraint

class compas_fab.robots.PositionConstraint(link_name, bounding_volume, weight=1.0)[source]

Bases: compas_fab.robots.constraints.Constraint

Constrains a link to be within a certain bounding volume.

Parameters

link_name (str) – The name of the link this contraint refers to.
bounding_volume (BoundingVolume) – The volume this constraint refers to.
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

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

Examples

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

Methods

`__init__`(link_name, bounding_volume[, weight])	Initialize self.
`copy`()	Create a copy of this `PositionConstraint`.
`from_box`(link_name, box[, weight])	Create a `PositionConstraint` from a `compas.geometry.Box`.
`from_mesh`(link_name, mesh[, weight])	Create a class:PositionConstraint from a `compas.datastructures.Mesh`.
`from_sphere`(link_name, sphere[, weight])	Create a `PositionConstraint` from a `compas.geometry.Sphere`.
`scale`(scale_factor)	Scale the `bounding_volume` uniformely.
`scaled`(scale_factor)	Get a scaled copy of this `Constraint`.
`transform`(transformation)	Transform the `bounding_volume` using a `compas.geometry.Transformation`.

Attributes

`CONSTRAINT_TYPES`
`JOINT`
`ORIENTATION`
`POSITION`

PositionConstraint

COMPAS