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.

compas_fab.backends.interfaces

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