rapid_clay_formations_fab

A minimal trajectory class to mix frame sequences and joint trajectories.

Module name in reference to class_fab.robots.

class rapid_clay_formations_fab.robots.trajectories.MinimalTrajectories(trajectories)[source]¶

Bases: _ListLike

List of MinimalTrajectory objects.

This class inherits from MutableSequence which means that it behaves like a list exposing methods such as index, __iter__ __len__.

Parameters:: trajectories (list of MinimalTrajectory) – Trajectory points.

__init__(trajectories)[source]¶

property trajectories¶

List of trajectories.

Return type:: List[MinimalTrajectory]
Type:: list

property data¶

Get a dict representation of MinimalTrajectories.

Return type:: dict

reverse_recursively()[source]¶

Reverse list and the lists elements.

Return type:: None

copy()[source]¶

Get an independent copy of object.

Return type:: MinimalTrajectories

reversed_recursively()[source]¶

Get an independent, recursively reversed copy of object.

Return type:: MinimalTrajectories

to_data()[source]¶

Get a dict representation of MinimalTrajectories.

Return type:: dict

classmethod from_data(data)[source]¶

Construct a MinimalTrajectories from a dict representation.

Parameters:: data (dict) – The data dictionary.
Returns:: MinimalTrajectories
Return type:: MinimalTrajectories

class rapid_clay_formations_fab.robots.trajectories.MinimalTrajectory(points)[source]¶

Bases: _ListLike

Trajectory defined either as joint positions or frames.

This class inherits from UserList which means that it behaves like a list implementing methods such as index, __iter__ and reveresed.

Parameters:: points (list) – Trajectory points.

JOINT_TRAJECTORY = 0¶

FRAME_TRAJECTORY = 1¶

__init__(points)[source]¶

property points¶

List of trajectory points.

Return type:: List[Union[Frame, Configuration]]
Type:: list

property data¶

Get a dict representation of MinimalTrajectory.

Return type:: dict

property trajectory_type¶

Return the type of elements in the trajectory.

Return type:: int
Type:: type

copy()[source]¶

Get an independent copy of object.

Return type:: MinimalTrajectory

reversed()[source]¶

Get an independent, reversed copy of object.

Return type:: MinimalTrajectory

to_compas_rrc()[source]¶

Return type:: Tuple[Callable, List[Union[Frame, RobotJoints]]]

classmethod from_joint_trajectory(joint_trajectory)[source]¶

Construct a instance from a compas_fab.robots.JointTrajectory.

Return type:: MinimalTrajectory

to_data()[source]¶: Get dict representation of MinimalTrajectory.

classmethod from_data(data)[source]¶

Construct a MinimalTrajectory from a dictionary representation.

Parameters:: data (dict) – The data dictionary.
Returns:: MinimalTrajectory
Return type:: MinimalTrajectory

COMPAS