Track breaking changes to SMTB

petercorke · petercorke · commit 1eb3883de7c2 · 2021-02-28T16:18:14.000+10:00
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
@@ -12,7 +12,7 @@
 from spatialmath.base.argcheck import \
     getvector, isscalar, verifymatrix, getmatrix
 # from spatialmath import base
-from spatialmath.base.transforms3d import tr2jac, trinv
+from spatialmath.base.transforms3d import tr2jac
 from spatialmath.base.transformsNd import t2r
 from spatialmath import SE3, Twist3
 import spatialmath.base.symbolic as sym
@@ -1038,7 +1038,7 @@ def jacob0(self, q=None, T=None):
         if T is None:
             T = self.fkine(q)
 
-        return tr2jac(trinv(T.A)) @ self.jacobe(q)
+        return tr2jac(T.A) @ self.jacobe(q)
 
     def jacob_dot(self, q=None, qd=None):
         r"""
diff --git a/roboticstoolbox/tools/trajectory.py b/roboticstoolbox/tools/trajectory.py
@@ -609,7 +609,7 @@ def ctraj(T0, T1, s):
     else:
         raise TypeError('bad argument for time, must be int or vector')
 
-    return T1.interp(s, start=T0)
+    return T0.interp(T1, s)
 
 
 def cmstraj():
