InverseKinematics

class compas_fab.backends.interfaces.InverseKinematics[source]

Bases: object

Interface for a Planner’s inverse kinematics feature. Any implementation of InverseKinematics must define the method inverse_kinematics. The __call__ magic method allows an instance of an implementation of InverseKinematics to be treated as its inverse_kinematics method. See <https://docs.python.org/3/reference/datamodel.html#object.__call__> and <https://en.wikipedia.org/wiki/Function_object#In_Python>.

Methods

__init__()

Initialize self.

inverse_kinematics(robot, frame_WCF[, …])

Calculate the robot’s inverse kinematic for a given frame.