Constraint¶

class compas_fab.robots.Constraint(constraint_type, weight=1.0)[source]¶

Bases: object

Base class for robot constraints.

Parameters

• constraint_type – Constraint type, one of Constraint.CONSTRAINT_TYPES.

• 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

• constraint_type – Constraint type, one of Constraint.CONSTRAINT_TYPES.

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

Class Attributes

• JOINT – Joint constraint type.

• POSITION – Positional constraint type.

• ORIENTATION – Orientational constraint type.

• CONSTRAINT_TYPES – List of possible constraint types.

Methods

__init__(constraint_type[, weight])	Initialize self.
copy()	Create a copy of this Constraint.
scale(scale_factor)	Scale the Constraint.
scaled(scale_factor)	Get a scaled copy of this Constraint.
transform(transformation)	Transform the Constraint.

Attributes

CONSTRAINT_TYPES	List of possible constraint types.
JOINT	Joint constraint type.
ORIENTATION	Orientational constraint type.
POSITION	Positional constraint type.