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.