JointConstraint

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

Bases: Constraint

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

copy	Create a copy of this JointConstraint.
scale	Scale (multiply) the constraint with a factor.

Inherited Methods

scaled	Get a scaled copy of this Constraint.
transform	Transform the Constraint.