8000 use smb instead of base · Findques/robotics-toolbox-python@fe3946d · GitHub
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petercorkepetercorke
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use smb instead of base
1 parent 6fb9a67 commit fe3946d

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3 files changed

+22
-14
lines changed

3 files changed

+22
-14
lines changed

‎roboticstoolbox/blocks/arm.py

Lines changed: 19 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,8 @@
33

44
# import matplotlib.pyplot as plt
55
import time
6-
from spatialmath import base, SE3
6+
from spatialmath import SE3
7+
import spatialmath.base as smb
78

89
from bdsim.components import TransferBlock, FunctionBlock, SourceBlock
910
from bdsim.graphics import GraphicsBlock
@@ -490,8 +491,8 @@ def __init__(self, q0, qf, qd0=None, qdf=None, T=None, **blockargs):
490491
)
491492
)
492493

493-
q0 = base.getvector(q0)
494-
qf = base.getvector(qf)
494+
q0 = smb.getvector(q0)
495+
qf = smb.getvector(qf)
495496

496497
if not len(q0) == len(qf):
497498
raise ValueError("q0 and q1 must be same size")
@@ -912,8 +913,8 @@ def __init__(self, y0=0, yf=1, T=None, time=False, traj="trapezoidal", **blockar
912913

913914
super().__init__(nin=nin, blockclass=blockclass, **blockargs)
914915

915-
y0 = base.getvector(y0)
916-
yf = base.getvector(yf)
916+
y0 = smb.getvector(y0)
917+
yf = smb.getvector(yf)
917918
assert len(y0) == len(yf), "y0 and yf must have same length"
918919

919920
self.y0 = y0
@@ -1389,7 +1390,7 @@ def __init__(self, robot, q0=None, **blockargs):
13891390
if q0 is None:
13901391
q0 = np.zeros((robot.n,))
13911392
else:
1392-
q0 = base.getvector(q0, robot.n)
1393+
q0 = smb.getvector(q0, robot.n)
13931394
self._x0 = np.r_[q0, np.zeros((robot.n,))]
13941395
self._qdd = None
13951396

@@ -1474,8 +1475,15 @@ def __init__(
14741475
"""
14751476
:param robot: Robot model
14761477
:type robot: Robot subclass
1477-
:param end: Link to compute pose of, defaults to end-effector
1478-
:type end: Link or str
1478+
:param q0: Initial joint configuration
1479+
:type q0: array_like(n)
1480+
:param gravcomp: perform gravity compensation
1481+
:type gravcomp: bool
1482+
:param velcomp: perform velocity term compensation
1483+
:type velcomp: bool
1484+
:param representation: task-space representation, defaults to "rpy/xyz"
1485+
:type represenstation: str
1486+
14791487
:param blockargs: |BlockOptions|
14801488
:type blockargs: dict
14811489
"""
@@ -1499,7 +1507,7 @@ def __init__(
14991507
if q0 is None:
15001508
q0 = np.zeros((robot.n,))
15011509
else:
1502-
q0 = base.getvector(q0, robot.n)
1510+
q0 = smb.getvector(q0, robot.n)
15031511
# append qd0, assumed to be zero
15041512
self._x0 = np.r_[q0, np.zeros((robot.n,))]
15051513
self._qdd = None
@@ -1511,7 +1519,7 @@ def output(self, t, inports, x):
15111519
qdd = self._qdd # from last deriv
15121520

15131521
T = self.robot.fkine(q)
1514-
x = base.tr2x(T.A)
1522+
x = smb.tr2x(T.A)
15151523

15161524
Ja = self.robot.jacob0_analytical(q, self.representation)
15171525
xd = Ja @ qd
@@ -1524,7 +1532,7 @@ def output(self, t, inports, x):
15241532
if qdd is None:
15251533
xdd = None
15261534
else:
1527-
Ja_dot = self.robot.jacob_dot(q, qd, J0=Ja)
1535+
Ja_dot = self.robot.jacob0_dot(q, qd, J0=Ja)
15281536
xdd = Ja @ qdd + Ja_dot @ qd
15291537

15301538
return [q, qd, x, xd, xdd]

‎roboticstoolbox/blocks/mobile.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,6 @@
99
from bdsim.components import TransferBlock
1010
from bdsim.graphics import GraphicsBlock
1111

12-
from spatialmath import base
1312
from roboticstoolbox import mobile
1413

1514
# ------------------------------------------------------------------------ #

‎roboticstoolbox/blocks/spatial.py

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,8 @@
33

44
# import matplotlib.pyplot as plt
55
import time
6-
from spatialmath import base, SE3
6+
from spatialmath import SE3
7+
import spatialmath.base as smb
78

89
from bdsim.components import TransferBlock, FunctionBlock, SourceBlock
910
from bdsim.graphics import GraphicsBlock
@@ -62,7 +63,7 @@ def __init__(self, **blockargs):
6263
self.outport_names(("$\delta$",))
6364

6465
def output(self, t, inports, x):
65-
return [base.tr2delta(inports[0].A, inports[1].A)]
66+
return [smb.tr2delta(inports[0].A, inports[1].A)]
6667

6768

6869
# ------------------------------------------------------------------------ #

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