JointTrajectory¶

class compas_fab.robots.JointTrajectory(trajectory_points=None, joint_names=None, start_configuration=None, fraction=None, attached_collision_meshes=None)[source]¶

Bases: compas_fab.robots.trajectory.Trajectory

Describes a joint trajectory as a list of trajectory points.

Parameters

• trajectory_points (list of JointTrajectoryPoint, optional) – List of points composing the trajectory.

• joint_names (list of str, optional) – List of joint names of the trajectory.

• start_configuration (Configuration, optional) – Start configuration for the trajectory.

• fraction (float, optional) – Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.

• attached_collision_meshes (list of :closs:`compas_fab.robots.AttachedCollisionMesh`) – The attached collision meshes included in the calculation of this trajectory.

Attributes

• points (list of JointTrajectoryPoint) – List of points composing the trajectory.

• joint_names (list of str) – List of joint names of the trajectory.

• start_configuration (Configuration) – Start configuration for the trajectory.

• fraction (float) – Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.

• attached_collision_meshes (list of compas_fab.robots.AttachedCollisionMesh) – The attached collision meshes included in the calculation of this trajectory.

• data (dict) – The data representing the trajectory.

Methods

__init__([trajectory_points, joint_names, …])	Initialize self.
from_data(data)	Construct a trajectory from its data representation.
to_data()	Get the data dictionary that represents the trajectory.

Attributes

data	The data representing the trajectory.
time_from_start	Effectively, time from start for the last point in the trajectory.