8000 change method allfkine to fkine_all · navrobot/robotics-toolbox-python@ef57a1f · GitHub
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petercorkepetercorke
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change method allfkine to fkine_all
1 parent cfb17b0 commit ef57a1f

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4 files changed

+10
-10
lines changed

4 files changed

+10
-10
lines changed

‎roboticstoolbox/backend/PyPlot/RobotPlot.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -52,7 +52,7 @@ def __init__(
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5353
def axes_calcs(self):
5454
# Joint and ee poses
55-
T = self.robot.allfkine()
55+
T = self.robot.fkine_all()
5656
Te = self.robot.fkine()
5757
Tb = self.robot.base
5858

‎roboticstoolbox/robot/Dynamics.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -578,7 +578,7 @@ def gravjac(self, q=None, grav=None):
578578
for pose in range(poses):
579579
com_arr = np.zeros((3, self.n))
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581-
T = self.allfkine(q[:, pose])
581+
T = self.fkine_all(q[:, pose])
582582

583583
jointOrigins = np.zeros((3, self.n))
584584
jointAxes = np.zeros((3, self.n))

‎roboticstoolbox/robot/ETS.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -176,7 +176,7 @@ def to_dict(self):
176176
'q_idx': self.q_idx
177177
}
178178

179-
self.allfkine()
179+
self.fkine_all()
180180

181181
for link in self.ets:
182182
li = {
@@ -214,7 +214,7 @@ def fk_dict(self):
214214
'links': []
215215
}
216216

217-
self.allfkine()
217+
self.fkine_all()
218218
# print(Tall)
219219

220220
for link in self.ets:
@@ -510,12 +510,12 @@ def fkine(self, q=None):
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511511
return t
512512

513-
def allfkine(self, q=None):
513+
def fkine_all(self, q=None):
514514
'''
515-
Tall = allfkine(q) evaluates fkine for each joint within a robot and
515+
Tall = fkine_all(q) evaluates fkine for each joint within a robot and
516516
returns a trajecotry of poses.
517517
518-
Tall = allfkine() as above except uses the stored q value of the
518+
Tall = fkine_all() as above except uses the stored q value of the
519519
robot object.
520520
521521
:param q: The joint angles/configuration of the robot (Optional,

‎tests/test_SerialLink.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -583,7 +583,7 @@ def test_friction(self):
583583

584584
nt.assert_array_almost_equal(r0.friction(qd), tau)
585585

586-
def test_allfkine(self):
586+
def test_fkine_all(self):
587587
panda = rp.models.DH.Panda()
588588
q = [1, 2, 3, 4, 5, 6, 7]
589589
panda.q = q
@@ -631,8 +631,8 @@ def test_allfkine(self):
631631
[0, 0, 0, 1]
632632
])
633633

634-
Tall = panda.allfkine(q)
635-
Tall2 = panda.allfkine()
634+
Tall = panda.fkine_all(q)
635+
Tall2 = panda.fkine_all()
636636

637637
nt.assert_array_almost_equal(Tall[0].A, t0, decimal=4)
638638
nt.assert_array_almost_equal(Tall[1].A, t1, decimal=4)

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