8000 added angle_axis as public method · QR-Zhang/robotics-toolbox-python@ea32ef3 · GitHub
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jhavljhavl
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added angle_axis as public method
1 parent d3e5b2f commit ea32ef3

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-3
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‎roboticstoolbox/tools/__init__.py

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@@ -1,5 +1,5 @@
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from roboticstoolbox.tools.null import null
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from roboticstoolbox.tools.p_servo import p_servo
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from roboticstoolbox.tools.p_servo import p_servo, angle_axis
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from roboticstoolbox.tools.Ticker import Ticker
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from roboticstoolbox.tools.urdf import * # noqa
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from roboticstoolbox.tools.trajectory import (
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__all__ = [
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"null",
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"p_servo",
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"angle_axis",
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"Ticker",
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"quintic",
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"quintic_func",

‎roboticstoolbox/tools/p_servo.py

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@@ -8,7 +8,7 @@
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ArrayLike = Union[list, np.ndarray, tuple, set]
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def _angle_axis(T, Td):
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def angle_axis(T, Td):
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e = np.empty(6)
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e[:3] = Td[:3, -1] - T[:3, -1]
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R = Td[:3, :3] @ T[:3, :3].T
@@ -81,7 +81,7 @@ def p_servo(
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# Angular error
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e[3:] = base.tr2rpy(eTep, unit="rad", order="zyx", check=False)
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else:
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e = _angle_axis(wTe, wTep)
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e = angle_axis(wTe, wTep)
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if base.isscalar(gain):
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k = gain * np.eye(6)

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