Merge pull request #421 from compas-dev/feature-multiple-targets-wayp…

…oints

Introduce Waypoint classes for describing targets with multiple points.

CHANGELOG.md

@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added `compas_fab.robots.Waypoints` class to represent a sequence of targets. It has two child classes: `FrameWaypoints` and `PointAxisWaypoints`.
 * Added `compas_fab.robots.Target` class to represent a motion planning target.
 * Added also child classes `FrameTarget`, `PointAxisTarget`, `ConfigurationTarget`, `ConstraintSetTarget`
 * Unlike previous constraints, `Targets` do not contain `group` as parameter. Instead, group parameter is passed to the planning call.

src/compas_fab/robots/__init__.py

@@ -46,8 +46,8 @@
     CollisionMesh
     PlanningScene
 
-Targets
--------
+Targets and Waypoints
+---------------------
 
 .. autosummary::
     :toctree: generated/
@@ -58,6 +58,9 @@
     PointAxisTarget
     ConfigurationTarget
     ConstraintSetTarget
+    Waypoints
+    FrameWaypoints
+    PointAxisWaypoints
 
 Constraints
 -----------
@@ -132,6 +135,9 @@
     PointAxisTarget,
     ConfigurationTarget,
     ConstraintSetTarget,
+    Waypoints,
+    FrameWaypoints,
+    PointAxisWaypoints,
 )
 from .time_ import (
     Duration,
@@ -160,13 +166,15 @@
     "ConstraintSetTarget",
     "Duration",
     "FrameTarget",
+    "FrameWaypoints",
     "Inertia",
     "JointConstraint",
     "JointTrajectory",
     "JointTrajectoryPoint",
     "OrientationConstraint",
     "PlanningScene",
     "PointAxisTarget",
+    "PointAxisWaypoints",
     "PositionConstraint",
     "ReachabilityMap",
     "DeviationVectorsGenerator",
@@ -177,6 +185,7 @@
     "Target",
     "Tool",
     "Trajectory",
+    "Waypoints",
     "Wrench",
     "to_degrees",
     "to_radians",

src/compas_fab/robots/constraints.py

@@ -669,7 +669,8 @@ def from_frame(cls, frame_WCF, tolerance_position, link_name, tool_coordinate_fr
         if tool_coordinate_frame:
             frame_WCF = from_tcf_to_t0cf(frame_WCF, tool_coordinate_frame)
 
-        sphere = Sphere(radius=tolerance_position, point=frame_WCF.point)
+        radius = float(tolerance_position)
+        sphere = Sphere(radius, point=frame_WCF.point)
         return cls.from_sphere(link_name, sphere, weight)
 
     @classmethod