def compressed_centroid_plane(self):
"""Get plane at middle of compressed bullet.
Returns
-------
:class:`Rhino.Geometry.Plane`
"""
return cgframe_to_rgplane(self.centroid_frame)
def trajectory_from_planes(self):
""":class:`Rhino.Geometry.Plane` representations of trajectory_from frames.
Returns
-------
:class:`list` of :class:`Rhino.Geometry.Plane`
"""
return [cgframe_to_rgplane(frame) for frame in self.trajectory_from]
def placement_plane(self):
""":class:`Rhino.Geometry.Plane` representation of placement frame.
Returns
-------
:class:`Rhino.Geometry.Plane`
"""
return cgframe_to_rgplane(self.placement_frame)
def location_plane(self):
""":class:`Rhino.Geometry.Plane` representation of location frame.
Returns
-------
:class:`Rhino.Geometry.Plane`
"""
return cgframe_to_rgplane(self.location)
def visualize_urscript(script):
M = [
[-1000, 0, 0, 0],
[0, 1000, 0, 0],
[0, 0, 1000, 0],
[0, 0, 0, 1],
]
rgT = matrix_to_rgtransform(M)
cgT = Transformation.from_matrix(M)
robot = Robot()
viz_planes = []
movel_matcher = re.compile(r"^\s*move([lj]).+((-?\d+\.\d+,?\s?){6}).*$")
for line in script.splitlines():
mo = re.search(movel_matcher, line)
if mo:
if mo.group(1) == "l": # movel
ptX, ptY, ptZ, rX, rY, rZ = mo.group(2).split(",")
pt = Point(float(ptX), float(ptY), float(ptZ))
pt.transform(cgT)
frame = Frame(pt, [1, 0, 0], [0, 1, 0])
R = Rotation.from_axis_angle_vector(
[float(rX), float(rY), float(rZ)], pt)
T = matrix_to_rgtransform(R)
plane = cgframe_to_rgplane(frame)
plane.Transform(T)
viz_planes.append(plane)
else: # movej
joint_values = mo.group(2).split(",")
configuration = Configuration.from_revolute_values(
[float(d) for d in joint_values])
frame = robot.forward_kinematics(configuration)
plane = cgframe_to_rgplane(frame)
plane.Transform(rgT)
viz_planes.append(plane)
return viz_planes
def get_location_plane(self):
from compas_rcf.rhino import cgframe_to_rgplane
return cgframe_to_rgplane(self.location)
def tcp_plane(self):
"""TCP represented as a :class:`Rhino.Geometry.Plane`."""
return cgframe_to_rgplane(self.tcp_frame)