def frame_at(self, u, v):
"""Compute the local frame at a point on the curve.
Parameters
----------
u : float
v : float
Returns
-------
:class:`compas.geometry.Frame`
"""
result, plane = self.rhino_surface.FrameAt(u, v)
if result:
return plane_to_compas_frame(plane)
def frame_at(self, t):
"""Compute the local frame at a point on the curve.
Parameters
----------
t : float
The value of the curve parameter.
Returns
-------
:class:`compas.geometry.Frame`
The corresponding local frame.
"""
plane = self.rhino_curve.FrameAt(t)
return plane_to_compas_frame(plane)
def RunScript(self, robot, visual_mesh, collision_mesh, tcf_plane):
if robot and robot.client and robot.client.is_connected and visual_mesh:
if not collision_mesh:
collision_mesh = visual_mesh
c_visual_mesh = RhinoMesh.from_geometry(visual_mesh).to_compas()
c_collision_mesh = RhinoMesh.from_geometry(collision_mesh).to_compas()
if not tcf_plane:
frame = Frame.worldXY()
else:
frame = plane_to_compas_frame(tcf_plane)
tool = Tool(c_visual_mesh, frame, c_collision_mesh)
scene = PlanningScene(robot)
robot.attach_tool(tool)
scene.add_attached_tool()
return robot