CollisionMesh¶

class compas_fab.robots.CollisionMesh(mesh, id, frame=None, root_name=None)[source]¶

Bases: object

Represents a collision mesh.

Parameters

• mesh (compas.datastructures.Mesh) – The collision mesh. Ideally it is as coarse as possible.

• id (str) – The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)

• frame (compas.geometry.Frame, optional) – The frame of the mesh. Defaults to :meth:`~compas.geometry.Frame.worldXY().

• root_name (str) – The name of the root link the collision mesh will be placed in. Defaults to ‘world’.

Attributes

• mesh (compas.datastructures.Mesh) – The collision mesh. Ideally it is as coarse as possible.

• id (str) – The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)

• frame (compas.geometry.Frame, optional) – The frame of the mesh. Defaults to :meth:`~compas.geometry.Frame.worldXY().

• root_name (str) – The name of the root link the collision mesh will be placed in. Defaults to ‘world’.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl'))
>>> cm = CollisionMesh(mesh, 'floor')
>>> cm.frame
Frame(Point(0.000, 0.000, 0.000), Vector(1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))

Methods

__init__(mesh, id[, frame, root_name])	Initialize self.
from_data(data)	Construct a collision mesh from its data representation.
scale(scale_factor)	Scales the collision mesh uniformly.
scaled(scale_factor)	Copies the collision mesh, and scales the copy uniformly.
to_data()	Get the data dictionary that represents the collision mesh.

Attributes

data	The data representing the collision mesh.