Deploy to GitHub pages

compas_fab/pull_390/api.html

@@ -103,7 +103,8 @@
 <li class="toctree-l3"><a class="reference internal" href="api/compas_fab.backends.html">compas_fab.backends</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="api/compas_fab.html#planning">Planning</a><ul class="simple">
+<li class="toctree-l2"><a class="reference internal" href="api/compas_fab.html#planning">Planning</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="api/compas_fab.planning.html">compas_fab.planning</a></li>
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="api/compas_fab.html#cad-integration">CAD integration</a><ul>
@@ -197,6 +198,7 @@
 <li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="api/compas_fab.html">compas_fab</a><ul class="nav flex-column collapse">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.planning.html">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.blender.html">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.ghpython.html">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="api/compas_fab.rhino.html">compas_fab.rhino</a></li>

compas_fab/pull_390/api/compas_fab.backends.html

@@ -355,6 +355,7 @@ <h2>Interfaces</h2>
 <li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item active"><a class="nav-link active reference internal" href="#">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.planning.html">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.blender.html">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.ghpython.html">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.rhino.html">compas_fab.rhino</a></li>

compas_fab/pull_390/api/compas_fab.blender.html

@@ -24,7 +24,7 @@
 
 
 
-  <link rel="prev" title="&lt;no title&gt;" href="compas_fab.planning.html" />
+  <link rel="prev" title="RobotState.validate_json" href="generated/compas_fab.planning.RobotState.validate_json.html" />
 
 
   <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
@@ -180,6 +180,7 @@ <h2>Artists</h2>
 <li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.planning.html">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item active"><a class="nav-link active reference internal" href="#">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.ghpython.html">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.rhino.html">compas_fab.rhino</a></li>
@@ -237,11 +238,11 @@ <h2>Artists</h2>
   <footer class="compas-footer">
     <nav class="nav p-2">
 
-      <a href="compas_fab.planning.html" title="&lt;no title&gt;" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+      <a href="generated/compas_fab.planning.RobotState.validate_json.html" title="RobotState.validate_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
         <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
         <div class="nav-title flex-grow-1 align-self-center">
           <div class="nav-direction small font-weight-light">Previous</div>
-          &lt;no title&gt;
+          RobotState.validate_json
         </div>
       </a>
 

compas_fab/pull_390/api/compas_fab.ghpython.html

@@ -191,6 +191,7 @@ <h2>Artists</h2>
 <li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.planning.html">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.blender.html">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item active"><a class="nav-link active reference internal" href="#">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.rhino.html">compas_fab.rhino</a></li>

compas_fab/pull_390/api/compas_fab.html

@@ -113,6 +113,9 @@ <h2>Robots</h2>
 <h2>Planning</h2>
 <p>Features for modeling multi-action robotic processes and methods for planning them.</p>
 <div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="compas_fab.planning.html">compas_fab.planning</a></li>
+</ul>
 </div>
 </section>
 <section id="cad-integration">
@@ -210,6 +213,7 @@ <h2>Utilities</h2>
 <li class="toctree-l2 nav-item active"><a class="nav-link active reference internal" href="#">compas_fab</a><ul class="nav flex-column collapse">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.planning.html">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.blender.html">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.ghpython.html">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.rhino.html">compas_fab.rhino</a></li>

compas_fab/pull_390/api/compas_fab.planning.html

@@ -3,7 +3,7 @@
 
 <head>
 
-  <title>compas_fab - &lt;no title&gt;</title>
+  <title>compas_fab - compas_fab.planning</title>
 
 
   <meta charset="utf-8" />
@@ -20,7 +20,7 @@
   <link rel="stylesheet" type="text/css" href="../_static/css/compas-reference.css" />
 
 
-  <link rel="next" title="compas_fab.blender" href="compas_fab.blender.html" />
+  <link rel="next" title="Action" href="generated/compas_fab.planning.Action.html" />
 
 
 
@@ -86,14 +86,98 @@
 
             <li class="breadcrumb-item"><a href="compas_fab.html">compas_fab</a></li>
 
-            <!-- <li class="breadcrumb-item active" aria-current="page">&lt;no title&gt;</li> -->
+            <!-- <li class="breadcrumb-item active" aria-current="page">compas_fab.planning</li> -->
           </ol>
         </nav>
 
 
 
 
-
+        <span class="target" id="module-compas_fab.planning"></span><section id="compas-fab-planning">
+<h1>compas_fab.planning</h1>
+<p>This package contains data classes for modeling robotic process and algorithms for planning robotic motions.
+The current implementation supports single-robot (<a class="reference internal" href="generated/compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a>)
+processes with one or more workpieces (<code class="xref py py-class docutils literal notranslate"><span class="pre">Workpiece</span></code>) and tools (<a class="reference internal" href="generated/compas_fab.robots.Tool.html#compas_fab.robots.Tool" title="compas_fab.robots.Tool"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Tool</span></code></a>).
+The processes contains actions that are assumed to be sequentially executed by the robot
+or by the operator (manually). Concurrent actions are not supported.</p>
+<p>The FabricationProcess class and its subclasses (such as <code class="xref py py-class docutils literal notranslate"><span class="pre">PickAndPlaceProcess</span></code> and
+<code class="xref py py-class docutils literal notranslate"><span class="pre">ExtrusionProcess</span></code>) are used to model a process. They provider helper methods for
+creating a ordered list of actions that are used for planning and execution. The beining of the
+process is defined by the initial state of the scene, which is a container for the state of all
+objects in the scene (see <a class="reference internal" href="generated/compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneState</span></code></a>). The initial state is used to plan the first action
+in the process. The resulting state of the first action is used as the initial state for the next
+action, and so on. See tutorial on <span class="xref std std-ref">planning_process</span> for more details.</p>
+<section id="actions">
+<h2>Actions</h2>
+<p>Actions are abstractions of the robot’s (and, or operator’s) capability to manupulate tools and
+workpieces in the scene. Action classes are used for modelling a process for the following purpose:</p>
+<ul class="simple">
+<li><p>To plan trajectories for robotic motions</p></li>
+<li><p>To simulate and visualize the process in a virtual environment</p></li>
+<li><p>To execute the process on a real robot (or by an operator)</p></li>
+</ul>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.Action.html#compas_fab.planning.Action" title="compas_fab.planning.Action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Action</span></code></a></p></td>
+<td><p>Base class for all actions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.RoboticAction.html#compas_fab.planning.RoboticAction" title="compas_fab.planning.RoboticAction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RoboticAction</span></code></a></p></td>
+<td><p>Base class for all robotic movements.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.FreeMotion.html#compas_fab.planning.FreeMotion" title="compas_fab.planning.FreeMotion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FreeMotion</span></code></a></p></td>
+<td><p>Action class for free robotic movements.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.OpenGripper.html#compas_fab.planning.OpenGripper" title="compas_fab.planning.OpenGripper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OpenGripper</span></code></a></p></td>
+<td><p>Action to open the gripper.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.CloseGripper.html#compas_fab.planning.CloseGripper" title="compas_fab.planning.CloseGripper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CloseGripper</span></code></a></p></td>
+<td><p>Action to close the gripper.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.ManuallyMoveWorkpiece.html#compas_fab.planning.ManuallyMoveWorkpiece" title="compas_fab.planning.ManuallyMoveWorkpiece"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManuallyMoveWorkpiece</span></code></a></p></td>
+<td><p>Action to load a workpiece, assumed to be performed by a human operator.</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+<section id="state">
+<h2>State</h2>
+<p>State classes are used to model the static state of objects in the planning scene. This include:
+<a class="reference internal" href="generated/compas_fab.planning.RobotState.html#compas_fab.planning.RobotState" title="compas_fab.planning.RobotState"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotState</span></code></a> for <a class="reference internal" href="generated/compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a>,
+<a class="reference internal" href="generated/compas_fab.planning.ToolState.html#compas_fab.planning.ToolState" title="compas_fab.planning.ToolState"><code class="xref py py-class docutils literal notranslate"><span class="pre">ToolState</span></code></a> for <a class="reference internal" href="generated/compas_fab.robots.Tool.html#compas_fab.robots.Tool" title="compas_fab.robots.Tool"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Tool</span></code></a> and
+<a class="reference internal" href="generated/compas_fab.planning.WorkpieceState.html#compas_fab.planning.WorkpieceState" title="compas_fab.planning.WorkpieceState"><code class="xref py py-class docutils literal notranslate"><span class="pre">WorkpieceState</span></code></a> for <code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Workpiece</span></code>.
+The <a class="reference internal" href="generated/compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneState</span></code></a> class is a container that holds the state of all objects in the scene.</p>
+<p>Typically a robotic process will have an initial (starting) state that is defined manually.
+If sequential planning is used, the initial state is used to plan the first action in the process.
+The resulting state of the first action is used as the initial state for the next action, and so on.
+If non-sequential planning is used, the starting state of actions are inferred from the list of
+actions in the process. See tutorial on <span class="xref std std-ref">planning_process</span> for more details.</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SceneState</span></code></a></p></td>
+<td><p>Container for the states of all workpieces, tools and robot in a static scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.WorkpieceState.html#compas_fab.planning.WorkpieceState" title="compas_fab.planning.WorkpieceState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">WorkpieceState</span></code></a></p></td>
+<td><p>Class for describing the state of a workpiece.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.ToolState.html#compas_fab.planning.ToolState" title="compas_fab.planning.ToolState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ToolState</span></code></a></p></td>
+<td><p>Class for describing the state of a tool.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.RobotState.html#compas_fab.planning.RobotState" title="compas_fab.planning.RobotState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RobotState</span></code></a></p></td>
+<td><p>Class for describing the state of a robot.</p></td>
+</tr>
+</tbody>
+</table>
+</section>
+</section>
+
 
       </main>
       <!-- content -->
@@ -110,7 +194,7 @@
 
 
         <div id="compas-navigation" class="collapse compas-navigation">
-          <ul class="nav flex-column collapse">
+          <ul class="nav flex-column collapse show active">
 <li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../index.html">Introduction</a></li>
 <li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../getting_started.html">Getting started</a></li>
 <li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../backends.html">Working with backends</a><ul class="nav flex-column collapse">
@@ -164,10 +248,11 @@
 </li>
 </ul>
 </li>
-<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../api.html">API Reference</a><ul class="nav flex-column collapse">
-<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="compas_fab.html">compas_fab</a><ul class="nav flex-column collapse">
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.robots.html">compas_fab.robots</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link active reference internal" href="#">compas_fab.planning</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.blender.html">compas_fab.blender</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.ghpython.html">compas_fab.ghpython</a></li>
 <li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="compas_fab.rhino.html">compas_fab.rhino</a></li>
@@ -209,7 +294,12 @@
       <!-- toc -->
       <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
 
-        <ul class="simple">
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">compas_fab.planning</a><ul class="nav flex-column">
+<li class="nav-item"><a class="nav-link reference internal" href="#actions">Actions</a></li>
+<li class="nav-item"><a class="nav-link reference internal" href="#state">State</a></li>
+</ul>
+</li>
 </ul>
 
       </div>
@@ -231,10 +321,10 @@
 
 
 
-      <a href="compas_fab.blender.html" title="compas_fab.blender" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+      <a href="generated/compas_fab.planning.Action.html" title="Action" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
         <div class="nav-title footer-link flex-grow-1 align-self-center">
           <div class="nav-direction small font-weight-light">Next</div>
-          compas_fab.blender
+          Action
         </div>
         <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
       </a>