8000 jtraj: fix qd1 ,mstraj qdf -- ensure they are ndarray using getvector by mfkenson · Pull Request #181 · petercorke/robotics-toolbox-python · GitHub
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jtraj: fix qd1 ,mstraj qdf -- ensure they are ndarray using getvector #181

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Merged
merged 1 commit into from
Feb 28, 2021
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jtraj: fix qd1 ,mstraj qdf -- ensure they are ndarray using getvector #181

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< 8000 svg style="box-sizing: content-box; color: var(--color-icon-primary);" width="32" height="32" viewBox="0 0 16 16" fill="none" aria-hidden="true" data-view-component="true" class="anim-rotate"> Loading
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5 changes: 4 additions & 1 deletion roboticstoolbox/tools/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -416,7 +416,7 @@ def jtraj(q0, qf, tv, qd0=None, qd1=None):
if qd1 is None:
qd1 = np.zeros(q0.shape)
else:
qd0 = getvector(qd0)
qd1 = getvector(qd1)
if not len(qd1) == len(q0):
raise ValueError('qd1 has wrong size')

Expand Down Expand Up @@ -742,16 +742,19 @@ def mstraj(
if isinstance(Tacc, (int, float)):
Tacc = np.tile(Tacc, (ns,))
else:
Tacc = getvector(Tacc)
if not len(Tacc) == ns:
raise ValueError('Tacc is wrong size')
if qd0 is None:
qd0 = np.zeros((nj,))
else:
qd0 = getvector(qd0)
if not len(qd0) == len(q0):
raise ValueError('qd0 is wrong size')
if qdf is None:
qdf = np.zeros((nj,))
else:
qdf = getvector(qdf)
if not len(qdf) == len(q0):
raise ValueError('qdf is wrong size')

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