PositionConstraint

class compas_fab.robots.PositionConstraint(link_name, bounding_volume, weight=1.0)[source]

Bases: Constraint

Constrains a link to be within a certain bounding volume.

Parameters

link_name (str) – The name of the link this contraint refers to.
bounding_volume (BoundingVolume) – The volume this constraint refers to.
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

link_name (str) – The name of the link this contraint refers to.
bounding_volume (BoundingVolume) – The volume this constraint refers to.
weight (float) – A weighting factor for this constraint. Denotes relative importance to other constraints. Closer to zero means less important.

Examples

>>> from compas.geometry import Sphere
>>> from compas_fab.robots import PositionConstraint
>>> from compas_fab.robots import BoundingVolume
>>> bv = BoundingVolume.from_sphere(Sphere((3,4,5), 0.5))
>>> pc = PositionConstraint('link_0', bv, weight=1.)

Methods

`copy`	Create a copy of this `PositionConstraint`.
`from_box`	Create a `PositionConstraint` from a `compas.geometry.Box`.
`from_mesh`	Create a class:PositionConstraint from a `compas.datastructures.Mesh`.
`from_sphere`	Create a `PositionConstraint` from a `compas.geometry.Sphere`.
`scale`	Scale the `bounding_volume` uniformely.
`transform`	Transform the `bounding_volume` using a `compas.geometry.Transformation`.

Inherited Methods

scaled

Get a scaled copy of this Constraint.

PositionConstraint

COMPAS