For workspace planning or robot path planning, it is useful to calculate and visualize the space of the robot's reachability, depending on its attached tool, obstacles in the environment, and its own kinematic and geometric constraints.
The ReachabilityMap describes the reachability of a robot by discretizing its environment, i.e. by defined frames with valid IK solutions at these frames.
[ ] Breaking change: bug fix or new feature that involve incompatible API changes.
[ ] Other (e.g. doc update, configuration, etc)
Checklist
Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.
[x] I added a line to the CHANGELOG.rst file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
[x] I ran all tests on my computer and it's all green (i.e. invoke test).
[x] I ran lint on my computer and there are no errors (i.e. invoke lint).
[x] I added new functions/classes and made them available on a second-level import, e.g. compas_fab.robots.CollisionMesh.
[x] I have added tests that prove my fix is effective or that my feature works.
[x] I have added necessary documentation (if appropriate)
For workspace planning or robot path planning, it is useful to calculate and visualize the space of the robot's reachability, depending on its attached tool, obstacles in the environment, and its own kinematic and geometric constraints.
The
ReachabilityMapdescribes the reachability of a robot by discretizing its environment, i.e. by defined frames with valid IK solutions at these frames.This was inspired by the project Adaptive Detailing
What type of change is this?
Checklist
Put an
xin the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.CHANGELOG.rstfile in theUnreleasedsection under the most fitting heading (e.g.Added,Changed,Removed).invoke test).invoke lint).compas_fab.robots.CollisionMesh.