8000 fix typing · trmyo/robotics-toolbox-python@bf8c2de · GitHub
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jhavljhavl
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fix typing
1 parent ea32ef3 commit bf8c2de

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2 files changed

+10
-9
lines changed

2 files changed

+10
-9
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‎roboticstoolbox/__init__.py

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -32,15 +32,14 @@
3232
"Link2",
3333
"ERobot",
3434
"ERobot2",
35-
"FastRobot",
3635
"ETS",
3736
"ETS2",
3837
"Gripper",
39-
"KinematicCache",
4038
"ET",
4139
"ET2",
4240
# tools
4341
"null",
42+
"angle_axis",
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"p_servo",
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"Ticker",
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"quintic",

‎roboticstoolbox/robot/ETS.py

Lines changed: 9 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@
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from roboticstoolbox.robot.ET import ET, ET2
5656
from spatialmath.base import getvector
5757
from spatialmath import SE3
58-
from typing import Union, overload, List, Set
58+
from typing import Union, overload, List, Set, Tuple
5959
from sys import version_info
6060

6161
ArrayLike = Union[list, ndarray, tuple, set]
@@ -1513,7 +1513,7 @@ def ik_lm_chan(
15131513
reject_jl: bool = True,
15141514
we: Union[ndarray, None] = None,
15151515
λ: float = 1.0,
1516-
) -> tuple[ndarray, int, int, int, float]:
1516+
) -> Tuple[ndarray, int, int, int, float]:
15171517
"""
15181518
Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan's Method)
15191519
@@ -1618,7 +1618,7 @@ def ik_lm_wampler(
16181618
reject_jl: bool = True,
16191619
we: Union[ndarray, None] = None,
16201620
λ: float = 1.0,
1621-
) -> tuple[ndarray, int, int, int, float]:
1621+
) -> Tuple[ndarray, int, int, int, float]:
16221622
"""
16231623
Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan's Method)
16241624
@@ -1723,7 +1723,7 @@ def ik_lm_sugihara(
17231723
reject_jl: bool = True,
17241724
we: Union[ndarray, None] = None,
17251725
λ: float = 1.0,
1726-
) -> tuple[ndarray, int, int, int, float]:
1726+
) -> Tuple[ndarray, int, int, int, float]:
17271727
"""
17281728
Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan's Method)
17291729
@@ -1816,7 +1816,9 @@ def ik_lm_sugihara(
18161816
TODO
18171817
"""
18181818

1819-
return IK_LM_Sugihara(self._fknm, Tep, q0, ilimit, slimit, tol, reject_jl, we, λ)
1819+
return IK_LM_Sugihara(
1820+
self._fknm, Tep, q0, ilimit, slimit, tol, reject_jl, we, λ
1821+
)
18201822

18211823
def ik_nr(
18221824
self,
@@ -1829,7 +1831,7 @@ def ik_nr(
18291831
we: Union[ndarray, None] = None,
18301832
use_pinv: int = True,
18311833
pinv_damping: float = 0.0,
1832-
) -> tuple[ndarray, int, int, int, float]:
1834+
) -> Tuple[ndarray, int, int, int, float]:
18331835
"""
18341836
Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan's Method)
18351837
@@ -1946,7 +1948,7 @@ def ik_gn(
19461948
we: Union[ndarray, None] = None,
19471949
use_pinv: int = True,
19481950
pinv_damping: float = 0.0,
1949-
) -> tuple[ndarray, int, int, int, float]:
1951+
) -> Tuple[ndarray, int, int, int, float]:
19501952
"""
19511953
Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan's Method)
19521954

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