def __init__(self,
header=None,
orientation=None,
link_name=None,
absolute_x_axis_tolerance=0.0,
absolute_y_axis_tolerance=0.0,
absolute_z_axis_tolerance=0.0,
weight=1):
"""
Notes
-----
The naming of the absolute_x/y/z_axis_tolerances might be misleading:
If you specify the absolute_x/y/z_axis_tolerances with [0.01, 0.01, 6.3],
it means that the frame's x-axis and y-axis are allowed to rotate about
the z-axis by an angle of 6.3 radians, whereas the z-axis can only change
by 0.01.
"""
self.header = header or Header()
self.orientation = orientation or Quaternion(
) # geometry_msgs/Quaternion
self.link_name = link_name or ""
self.absolute_x_axis_tolerance = float(absolute_x_axis_tolerance)
self.absolute_y_axis_tolerance = float(absolute_y_axis_tolerance)
self.absolute_z_axis_tolerance = float(absolute_z_axis_tolerance)
self.weight = float(weight)
def __init__(self,
header=None,
id="collision_obj",
type=None,
primitives=None,
primitive_poses=None,
meshes=None,
mesh_poses=None,
planes=None,
plane_poses=None,
subframe_names=None,
subframe_poses=None,
operation=0):
self.header = header or Header(
) # a header, used for interpreting the poses
self.id = id # the id of the object (name used in MoveIt)
self.type = type or ObjectType(
) # The object type in a database of known objects
# solid geometric primitives
self.primitives = primitives or []
self.primitive_poses = primitive_poses or []
# meshes
self.meshes = meshes or []
self.mesh_poses = mesh_poses or []
# bounding planes
self.planes = planes or []
self.plane_poses = plane_poses or []
self.operation = operation # ADD or REMOVE or APPEND or MOVE
def from_msg(cls, msg):
kwargs = {}
kwargs['header'] = Header.from_msg(msg['header'])
kwargs['id'] = msg['id']
kwargs['type'] = ObjectType.from_msg(msg['type'])
kwargs['pose'] = Pose.from_msg(
msg['pose']) if 'pose' in msg else Pose()
kwargs['primitives'] = [
SolidPrimitive.from_msg(i) for i in msg['primitives']
]
kwargs['primitive_poses'] = [
Pose.from_msg(i) for i in msg['primitive_poses']
]
kwargs['meshes'] = [Mesh.from_msg(i) for i in msg['meshes']]
kwargs['mesh_poses'] = [Pose.from_msg(i) for i in msg['mesh_poses']]
kwargs['planes'] = [Plane.from_msg(i) for i in msg['planes']]
kwargs['plane_poses'] = [
Pose.from_frame(i) for i in msg['plane_poses']
]
kwargs['operation'] = msg['operation']
return cls(**kwargs)
def __init__(self,
header=None,
id="collision_obj",
type=None,
primitives=None,
primitive_poses=None,
meshes=None,
mesh_poses=None,
planes=None,
plane_poses=None,
subframe_names=None,
subframe_poses=None,
operation=0,
pose=None):
self.header = header or Header(
) # a header, used for interpreting the poses
self.id = id # the id of the object (name used in MoveIt)
self.type = type or ObjectType(
) # The object type in a database of known objects
self.pose = pose or Pose(
) # currently not actively used in FAB, but needed to be present otherwise ROS Noetic complains about empty quaternion
# solid geometric primitives
self.primitives = primitives or []
self.primitive_poses = primitive_poses or []
# meshes
self.meshes = meshes or []
self.mesh_poses = mesh_poses or []
# bounding planes
self.planes = planes or []
self.plane_poses = plane_poses or []
self.operation = operation # ADD or REMOVE or APPEND or MOVE
def __init__(self, header=None, link_name=None, target_point_offset=None,
constraint_region=None, weight=None):
self.header = header or Header()
self.link_name = link_name or ""
self.target_point_offset = target_point_offset or Vector3(0., 0., 0.) # geometry_msgs/Vector3
self.constraint_region = constraint_region or BoundingVolume() # moveit_msgs/BoundingVolume
self.weight = float(weight) or 1.
def __init__(self,
header=Header(),
min_corner=Vector3(-1000, -1000, -1000),
max_corner=Vector3(1000, 1000, 1000)):
self.header = header
self.min_corner = min_corner
self.max_corner = max_corner
def __init__(self, header=None, link_name=None, target_point_offset=None,
constraint_region=None, weight=None):
self.header = header if header else Header()
self.link_name = link_name if link_name else ""
self.target_point_offset = target_point_offset if target_point_offset else Vector3(0.,0.,0.) # geometry_msgs/Vector3
self.constraint_region = constraint_region if constraint_region else BoundingVolume() # moveit_msgs/BoundingVolume
self.weight = float(weight) if weight else 1.
def from_collision_mesh(cls, collision_mesh):
"""Creates a collision object from a :class:`compas_fab.robots.CollisionMesh`
"""
kwargs = {}
kwargs['header'] = Header(frame_id=collision_mesh.root_name)
kwargs['id'] = collision_mesh.id
kwargs['meshes'] = [Mesh.from_mesh(collision_mesh.mesh)]
kwargs['mesh_poses'] = [Pose.from_frame(collision_mesh.frame)]
return cls(**kwargs)
def __init__(self, header=None, min_corner=None, max_corner=None):
self.header = header or Header()
self.min_corner = min_corner or Vector3(-1000, -1000, -1000)
self.max_corner = max_corner or Vector3(1000, 1000, 1000)
