ReachabilityMap

class compas_fab.robots.ReachabilityMap(frames=None, configurations=None, name=None)[source]

Bases: Data

The ReachabilityMap describes the reachability of a robot.

The ReachabilityMap describes the reachability of a robot at certain frames, with valid IK solutions at these frames. The map only makes sense to be calculated with analytic inverse kinematic solvers, as they include all possible solutions to be found.

Attributes

• frames (list of list of compas.geometry.Frame) – The frames at which the IK solutions are calculated.

• configurations (list of list of list of compas.robots.Configuration) – The configurations at the frames.

• score (list of int) – The number of solutions per frame list (2D)

• points (list of compas.geometry.Point) – The points per frame list (2D)

• shape (tuple of int) – The shape of the frames array

http://wiki.ros.org/reuleaux

Methods

calculate	Calculates the reachability map.
reachable_frames_and_configurations_at_ik_index	Returns the reachable frames and configurations at a specific ik index.

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
from_data	Construct an object of this type from the provided data.
from_json	Construct an object from serialized data contained in a JSON file.
from_jsonstring	Construct an object from serialized data contained in a JSON string.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
to_data	Convert an object to its native data representation.
to_json	Serialize the data representation of an object to a JSON file.
to_jsonstring	Serialize the data representation of an object to a JSON string.
validate_data	Validate the object's data against its data schema.
validate_json	Validate the object's data against its json schema.