Merge pull request #144 from tetov/scaling

Use scale factor for CollisionMesh (suggestion for #142)

Author: romanarust

CHANGELOG.rst

@@ -33,6 +33,8 @@ Unreleased
   ``tolerance_below`` for allowing asymmetrical constraints.
 * In :class:``compas_fab.robots.Robot``, changed the ``constraints_from_configuration``
   function with ``tolerances_above`` and ``tolerances_below``.
+* :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor
+  instead of a :class:`compas.geometry.Scale` instance as an argument.
 
 **Removed**
 

src/compas_fab/artists/base.py

@@ -166,7 +166,7 @@ def scale(self, factor):
         self.robot.scale(factor)  # scale the model
 
         relative_factor = factor / self.scale_factor  # relative scaling factor
-        transformation = Scale([relative_factor, relative_factor, relative_factor])
+        transformation = Scale([relative_factor] * 3)
         self.scale_link(self.robot.root, transformation)
         self.scale_factor = factor
 

src/compas_fab/robots/planning_scene.py

@@ -2,7 +2,6 @@
 from __future__ import division
 from __future__ import print_function
 
-from compas.datastructures import mesh_transform
 from compas.geometry import Frame
 from compas.geometry import Scale
 
@@ -43,14 +42,16 @@ def __init__(self, mesh, id, frame=None, root_name=None):
         self.frame = frame or Frame.worldXY()
         self.root_name = root_name or 'world'
 
-    def scale(self, transformation):
-        """Scales the collision mesh.
+    def scale(self, scale_factor):
+        """Scales the collision mesh uniformly.
 
         Parameters
         ----------
-        transformation : compas.geometry.Scale
+        scale_factor : :obj:`float`
+            Scale factor.
         """
-        mesh_transform(self.mesh, transformation)
+        S = Scale([scale_factor] * 3)
+        self.mesh.transform(S)
 
 
 class AttachedCollisionMesh(object):
@@ -140,8 +141,8 @@ def add_collision_mesh(self, collision_mesh, scale=False):
         collision_mesh.root_name = self.robot.root_name
 
         if scale:
-            S = Scale([1./self.robot.scale_factor] * 3)
-            collision_mesh.scale(S)
+            scale_factor = 1. / self.robot.scale_factor
+            collision_mesh.scale(scale_factor)
 
         self.client.add_collision_mesh(collision_mesh)
 
@@ -194,8 +195,8 @@ def append_collision_mesh(self, collision_mesh, scale=False):
         collision_mesh.root_name = self.robot.root_name
 
         if scale:
-            S = Scale([1./self.robot.scale_factor] * 3)
-            collision_mesh.scale(S)
+            scale_factor = 1. / self.robot.scale_factor
+            collision_mesh.scale(scale_factor)
 
         self.robot.client.append_collision_mesh(collision_mesh)
 
@@ -226,8 +227,8 @@ def add_attached_collision_mesh(self, attached_collision_mesh, scale=False):
         self.ensure_client()
 
         if scale:
-            S = Scale([1./self.robot.scale_factor] * 3)
-            attached_collision_mesh.collision_mesh.scale(S)
+            scale_factor = 1. / self.robot.scale_factor
+            attached_collision_mesh.collision_mesh.scale(scale_factor)
 
         self.client.add_attached_collision_mesh(attached_collision_mesh)
 
@@ -293,8 +294,8 @@ def attach_collision_mesh_to_robot_end_effector(self, collision_mesh, scale=Fals
         self.ensure_client()
 
         if scale:
-            S = Scale([1./self.robot.scale_factor] * 3)
-            collision_mesh.scale(S)
+            scale_factor = 1. / self.robot.scale_factor
+            collision_mesh.scale(scale_factor)
 
         ee_link_name = self.robot.get_end_effector_link_name(group)
         touch_links = [ee_link_name]