JointConstraint¶

class compas_fab.robots.JointConstraint(joint_name, value, tolerance_above=0.0, tolerance_below=0.0, weight=1.0)[source]¶

Bases: compas_fab.robots.constraints.Constraint

Constrains the value of a joint to be within a certain bound.

Parameters

• joint_name (str) – The name of the joint this contraint refers to.

• value (float) – The targeted value for that joint.

• tolerance_above (float) – Tolerance above the targeted joint value, in radians. Defaults to 0.

• tolerance_below (float) – Tolerance below the targeted joint value, in radians. Defaults to 0.

• 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

• joint_name (str) – The name of the joint this contraint refers to.

• value (float) – The targeted value for that joint.

• tolerance_above (float) – Tolerance above the targeted joint value, in radians.

• tolerance_below (float) – Tolerance below the targeted joint value, in radians.

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

Examples

>>> from compas_fab.robots import JointConstraint
>>> jc = JointConstraint("joint_0", 1.4, 0.1, 0.1, 1.0)

Methods

__init__(joint_name, value[, …])	Initialize self.
copy()	Create a copy of this JointConstraint.
scale(scale_factor)	Scale (multiply) the constraint with a factor.
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.