JointTrajectory

class compas_fab.robots.JointTrajectory(trajectory_points=None, joint_names=None, start_configuration=None, fraction=None, attached_collision_meshes=None)[source]

Bases: Trajectory

Describes a joint trajectory as a list of trajectory points.

Parameters

  • trajectory_points (list of JointTrajectoryPoint, optional) – List of points composing the trajectory.

  • joint_names (list of str, optional) – List of joint names of the trajectory.

  • start_configuration (Configuration, optional) – Start configuration for the trajectory.

  • fraction (float, optional) – Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.

  • attached_collision_meshes (list of compas_fab.robots.AttachedCollisionMesh) – The attached collision meshes included in the calculation of this trajectory.

Attributes

  • points (list of JointTrajectoryPoint) – List of points composing the trajectory.

  • joint_names (list of str) – List of joint names of the trajectory.

  • start_configuration (Configuration) – Start configuration for the trajectory.

  • fraction (float) – Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.

  • attached_collision_meshes (list of compas_fab.robots.AttachedCollisionMesh) – The attached collision meshes included in the calculation of this trajectory.

  • data (dict) – The data representing the trajectory.

Methods

from_data

Construct a trajectory from its data representation.

to_data

Get the data dictionary that represents the trajectory.

Inherited Methods

ToString

Converts the instance to a string.

copy

Make an independent copy of the data object.

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_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.