JointConstraint

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

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.