8000 Start to transition from SerialLink class to DHRobot · navrobot/robotics-toolbox-python@cfb17b0 · GitHub
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petercorkepetercorke
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Start to transition from SerialLink class to DHRobot
1 parent c51f133 commit cfb17b0

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6 files changed

+11
-9
lines changed

6 files changed

+11
-9
lines changed

‎roboticstoolbox/backend/PyPlot/PyPlot.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -105,6 +105,7 @@ def step(self, dt=50):
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plt.ion()
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self._update_robots()
108+
plt.pause(0.01)
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109110
def reset(self):
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'''
@@ -151,7 +152,7 @@ def add(
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152153
super().add()
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154-
if isinstance(ob, rp.SerialLink) or isinstance(ob, rp.ETS):
155+
if isinstance(ob, rp.DHRobot) or isinstance(ob, rp.ETS):
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self.robots.append(
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RobotPlot(
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ob, self.ax, readonly, display,

‎roboticstoolbox/backend/PyPlot/RobotPlot.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -78,7 +78,7 @@ def axes_calcs(self):
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for i in range(self.robot.n):
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loc[:, i + 1] = T[i].t
8080

81-
if isinstance(self.robot, rp.SerialLink) \
81+
if isinstance(self.robot, rp.DHRobot) \
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or self.robot.ets[self.robot.q_idx[i]].axis == 'Rz' \
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or self.robot.ets[self.robot.q_idx[i]].axis == 'tz':
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Tji = T[i] * Tjz

‎roboticstoolbox/models/DH/Panda.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
33
import numpy as np
44
from spatialmath.base import trotz, transl
55

6-
from roboticstoolbox import SerialLink, RevoluteMDH
6+
from roboticstoolbox import DHRobot, RevoluteMDH
77

8-
class Panda(SerialLink):
8+
class Panda(DHRobot):
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"""
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A class representing the Franka Emika Panda robot arm.
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‎roboticstoolbox/models/DH/Puma560.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -17,9 +17,9 @@
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from math import pi
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import numpy as np
20-
from roboticstoolbox import SerialLink, RevoluteDH
20+
from roboticstoolbox import DHRobot, RevoluteDH
2121

22-
class Puma560(SerialLink):
22+
class Puma560(DHRobot):
2323
"""
2424
Create model of Puma 560 manipulator
2525

‎roboticstoolbox/models/DH/Stanford.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -18,12 +18,12 @@
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# all parameters are in SI units: m, radians, kg, kg.m2, N.m, N.m.s etc.
2020

21-
from roboticstoolbox import SerialLink, RevoluteDH, PrismaticDH
21+
from roboticstoolbox import DHRobot, RevoluteDH, PrismaticDH
2222
from math import pi
2323
import numpy as np
2424

2525

26-
class Stanford(SerialLink):
26+
class Stanford(DHRobot):
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"""
2828
Create model of Stanford arm manipulator
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‎roboticstoolbox/robot/__init__.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
from roboticstoolbox.robot.SerialLink import SerialLink
1+
from roboticstoolbox.robot.SerialLink import SerialLink, DHRobot
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from roboticstoolbox.robot.DHLink import DHLink, RevoluteDH, PrismaticDH, RevoluteMDH, PrismaticMDH
33
from roboticstoolbox.robot.ETS import ETS
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from roboticstoolbox.robot.ELink import ELink
@@ -7,6 +7,7 @@
77

88
__all__ = [
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'SerialLink',
10+
'DHRobot',
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'DHLink',
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'RevoluteDH',
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'PrismaticDH',

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