def trajectory_from(self, frame_list):
"""Ensure trajectory_from elements are :class:`compas.geometry.Frame` objects.""" # noqa: E501
self._trajectory_from = []
if isinstance(frame_list, collections.Sequence):
for frame_like in frame_list:
frame = ensure_frame(frame_like)
self._trajectory_from.append(frame)
else:
frame = ensure_frame(frame_list)
self._trajectory_from.append(frame)
def from_plane_point(cls, tcp_plane, cog_pt=None, **kwargs):
"""Create RapidToolData object from :class:`Rhino.Geometry.GeometryBase` objects.
Parameters
----------
tcp_plane : :class:`Rhino.Geometry.Plane`
Plane at tool center plane.
cog_pt : :class:`Rhino.Geometry.Point3d`, optional
Point at tool center of gravity.
name : str, optional
weight : float, optional
Tool weight in kg
Returns
-------
:class:`RapidToolData`
"""
tcp_coord = [
tcp_plane.Origin.X, tcp_plane.Origin.Y, tcp_plane.Origin.Z
]
tcp_frame = ensure_frame(tcp_plane)
tcp_quaternion = tcp_frame.quaternion.wxyz
if cog_pt:
cog_coord = [cog_pt.X, cog_pt.Y, cog_pt.Z]
kwargs.update({"cog_coord": cog_coord})
return cls(tcp_coord, tcp_quaternion, **kwargs)
def from_compressed_centroid_frame_like(cls,
centroid_frame_like,
compression_ratio=0.5,
height=100,
**kwargs):
"""Construct a :class:`ClayBullet` instance from centroid plane.
Parameters
----------
centroid_frame_like : :class:`compas.geometry.Frame` or :class:`Rhino.Geometry.Plane`
Frame between bottom of clay bullet and compressed top.
compression_ratio : :class:`float`
The compressed height as a percentage of the original height.
height : :class:`float`
The height of the bullet before compression.
kwargs : :class:`dict`
Other attributes.
Returns
-------
:class:`ClayBullet`
The constructed ClayBullet instance
""" # noqa: E501
centroid_frame = ensure_frame(centroid_frame_like)
compressed_height = height * compression_ratio
location = get_offset_frame(centroid_frame, -compressed_height / 2)
return cls(location,
compression_ratio=compression_ratio,
height=height,
**kwargs)
def location(self, frame_like):
"""Ensure that location is stored as :class:`compas.geometry.Frame` object."""
self._location = ensure_frame(frame_like)