ReachabilityMap.calculate

ReachabilityMap.calculate(frame_generator, robot, ik_options=None)[source]

Calculates the reachability map.

Parameters

• frame_generator (generator) – A 2D frame generator to yield compas.geometry.Frame.

• robot (compas_fab.robots.Robot) – The robot instance for which inverse kinematics is being calculated. This makes only sense if the robot has an analytic inverse kinematic solvers set.

• ik_options (dict, optional) – Optional arguments to be passed on to the robot’s inverse kinematics function.

:raises ValueError : If the frame_generator does not produce a 2D list of frames: