10000 Rework and polish · ctc-eng/robotics-toolbox-python@45fda8c · GitHub
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petercorkepetercorke
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Rework and polish
remove jtype, STATIC, VARIABLE and replace with .isjoint predicate add isrevolute and isprismatic predictes lots of doco and examples passes
1 parent 368b889 commit 45fda8c

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4 files changed

+584
-242
lines changed

4 files changed

+584
-242
lines changed

‎roboticstoolbox/robot/ELink.py

Lines changed: 7 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -55,9 +55,6 @@ def __init__(
5555

5656
super(ELink, self).__init__(**kwargs)
5757

58-
self.STATIC = 0
59-
self.VARIABLE = 1
60-
6158
if isinstance(ets, ETS):
6259
self._ets = ets
6360
else:
@@ -81,7 +78,7 @@ def __init__(
8178
if isinstance(ets, ETS):
8279
self._Ts = SE3()
8380
for i in range(self.M):
84-
if ets[i].jtype is not ets[i].STATIC:
81+
if ets[i].isjoint:
8582
raise ValueError('The transforms in ets must be constant')
8683

8784
if not isinstance(ets[i].T(), SE3):
@@ -94,16 +91,16 @@ def __init__(
9491

9592
# Check the variable joint
9693
if v is None:
97-
self._jtype = self.STATIC
94+
self._joint = False
9895
elif not isinstance(v, ETS):
9996
raise TypeError('v must be of type ETS')
100-
elif v[0].jtype is v[0].STATIC:
97+
elif not v[0].isjoint:
10198
raise ValueError('v must be a variable ETS')
10299
elif len(v) > 1:
103100
raise ValueError(
104101
"An elementary link can only have one joint variable")
105102
else:
106-
self._jtype = self.VARIABLE
103+
self._joint = True
107104

108105
self._v = v
109106

@@ -130,15 +127,13 @@ def geometry(self):
130127
return self._geometry
131128

132129
@property
133-
def jtype(self):
134-
return self._jtype
130+
def isjoint(self):
131+
return self._joint
135132

136133
@property
137134
def ets(self):
138135
return self._ets
139136

140-
141-
142137
# @property
143138
# def parent_name(self):
144139
# return self._parent_name
@@ -233,7 +228,7 @@ def A(self, 10000 q=None, fast=False):
233228
# j = 0
234229
# tr = SE3()
235230

236-
if self.jtype == self.VARIABLE and q is None:
231+
if self.isjoint and q is None:
237232
raise ValueError("q is required for variable joints")
238233

239234
# for k in range(self.M):

‎roboticstoolbox/robot/ERobot.py

Lines changed: 12 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -101,7 +101,7 @@ def __init__(
101101

102102
def add_links(link, lst, q_idx):
103103

104-
if link.jtype == link.VARIABLE:
104+
if link.isjoint:
105105
q_idx.append(len(lst))
106106

107107
lst.append(link)
@@ -345,7 +345,7 @@ def qlim(self):
345345
j = 0
346346

347347
for i in range(self.M):
348-
if self.ets[i].jtype == self.ets[i].VARIABLE:
348+
if self.ets[i].isjoint:
349349
v[:, j] = self.ets[i].qlim
350350
j += 1
351351

@@ -456,7 +456,7 @@ def fkine(self, q=None):
456456
tr = self.base
457457

458458
for link in self._fkpath:
459-
if link.jtype == link.VARIABLE:
459+
if link.isjoint:
460460
T = link.A(q[j, i])
461461
j += 1
462462
else:
@@ -489,7 +489,7 @@ def fkine_graph(self, q=None, from_link=None, to_link=None):
489489
tr = self.base.A
490490

491491
for link in path:
492-
if link.jtype == link.VARIABLE:
492+
if link.isjoint:
493493
T = link.A(q[j], fast=True)
494494
j += 1
495495
else:
@@ -533,7 +533,7 @@ def fkine_all(self, q=None):
533533
# Tall = SE3()
534534
j = 0
535535

536-
if self.ets[0].jtype == self.ets[0].VARIABLE:
536+
if self.ets[0].isjoint:
537537
self.ets[0]._fk = self.base * self.ets[0].A(q[j])
538538
j += 1
539539
else:
@@ -546,7 +546,7 @@ def fkine_all(self, q=None):
546546
gi.wT = self.ets[0]._fk
547547

548548
for i in range(1, self.M):
549-
if self.ets[i].jtype == self.ets[i].VARIABLE:
549+
if self.ets[i].isjoint:
550550
t = self.ets[i].A(q[j])
551551
j += 1
552552
else:
@@ -643,13 +643,13 @@ def get_path(self, from_link, to_link):
643643
link = to_link
644644

645645
path.append(link)
646-
if link.jtype is link.VARIABLE:
646+
if link.isjoint:
647647
n += 1
648648

649649
while link != from_link:
650650
link = link.parent
651651
path.append(link)
652-
if link.jtype is link.VARIABLE:
652+
if link.isjoint:
653653
n += 1
654654

655655
path.reverse()
@@ -691,9 +691,7 @@ def jacob0(
691691

692692
for link in path:
693693

694-
if link.jtype is link.STATIC:
695-
U = U @ link.A(fast=True)
696-
else:
694+
if link.isjoint:
697695
U = U @ link.A(q[j], fast=True)
698696

699697
if link == to_link:
@@ -732,6 +730,9 @@ def jacob0(
732730
J[3:, j] = np.array([0, 0, 0])
733731

734732
j += 1
733+
else:
734+
U = U @ link.A(fast=True)
735+
735736

736737
return J
737738

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