8000 changed the way v and isjoint works · weizx208/robotics-toolbox-python@cafab77 · GitHub
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jhavljhavl
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changed the way v and isjoint works
1 parent 6bd475e commit cafab77

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‎roboticstoolbox/robot/Link.py

Lines changed: 120 additions & 59 deletions
Original file line numberDiff line numberDiff line change
@@ -172,13 +172,7 @@ def dynpar(self, name, value, default):
172172
elif not isinstance(ets, (ETS, ETS2)):
173173
raise TypeError("The ets argument must be of type ETS or ET")
174174

175-
if ets.n > 1:
176-
raise ValueError("An elementary link can only have one joint variable")
177-
178-
if ets.n == 1 and not ets[-1].isjoint:
179-
raise ValueError("Variable link must be at the end of the ETS")
180-
181-
self._ets = ets
175+
self.ets = ets
182176

183177
# Check parent argument
184178
if parent is not None:
@@ -198,11 +192,8 @@ def dynpar(self, name, value, default):
198192
self._children = []
199193

200194
# Set the qlim if provided
201-
if qlim is not None and self.isjoint:
202-
self._ets[-1].qlim = qlim
203-
204-
# Initialise the static transform of the Link
205-
self._init_Ts()
195+
if qlim is not None and self.v:
196+
self.v.qlim = qlim
206197

207198
# -------------------------------------------------------------------------- #
208199

@@ -245,6 +236,46 @@ def Ts(self) -> ndarray:
245236
"""
246237
return self._Ts
247238

239+
@overload
240+
def ets(self: "Link") -> ETS:
241+
...
242+
243+
@overload
244+
def ets(self: "Link2") -> ETS2:
245+
...
246+
247+
@property
248+
def ets(self):
249+
return self._ets
250+
251+
@ets.setter
252+
@overload
253+
def ets(self: "Link", new_ets: ETS):
254+
...
255+
256+
@ets.setter
257+
@overload
258+
def ets(self: "Link2", new_ets: ETS2):
259+
...
260+
261+
@ets.setter
262+
def ets(self, new_ets):
263+
if new_ets.n > 1:
264+
raise ValueError("An elementary link can only have one joint variable")
265+
266+
if new_ets.n == 1 and not new_ets[-1].isjoint:
267+
raise ValueError("Variable link must be at the end of the ETS")
268+
269+
self._ets = new_ets
270+
self._init_Ts()
271+
272+
if self._ets.n:
273+
self._v = self._ets[-1]
274+
self._isjoint = True
275+
else:
276+
self._v = None
277+
self._isjoint = False
278+
248279
def __repr__(self):
249280
name = self.__class__.__name__
250281
if self.name is None:
@@ -325,18 +356,15 @@ def v(self):
325356
Variable part of link ETS
326357
:return: joint variable transform
327358
:rtype: ET instance
328-
The ETS for each ELink comprises a constant part (possible the
359+
The ETS for each Link comprises a constant part (possible the
329360
identity) followed by an optional joint variable transform.
330361
This property returns the latter.
331362
.. runblock:: pycon
332363
>>> from roboticstoolbox import ELink, ETS
333364
>>> link = ELink( ET.tz(0.333) * ET.Rx(90, 'deg') * ETS.Rz() )
334365
>>> print(link.v)
335366
"""
336-
if self.isjoint:
337-
return self._ets[-1]
338-
else:
339-
return None
367+
return self._v
340368

341369
# -------------------------------------------------------------------------- #
342370

@@ -396,15 +424,15 @@ def qlim(self) -> Union[ndarray, None]:
396424
397425
:seealso: :func:`~islimit`
398426
"""
399-
if self.isjoint:
400-
return self.ets[-1].qlim
427+
if self.v:
428+
return self.v.qlim
401429
else:
402430
return None
403431

404432
@qlim.setter
405433
def qlim(self, qlim_new: ArrayLike):
406-
if self.isjoint:
407-
self.ets[-1].qlim = qlim_new
434+
if self.v:
435+
self.v.qlim = qlim_new
408436
else:
409437
raise ValueError("Can not set qlim on a static joint")
410438

@@ -459,7 +487,7 @@ def isflip(self) -> bool:
459487
- prismatic motion is a negative translation along the z-axis
460488
461489
"""
462-
return self.isjoint and self.ets[-1].isflip
490+
return self.v.isflip if self.v else False
463491

464492
# -------------------------------------------------------------------------- #
465493

@@ -768,7 +796,8 @@ def isjoint(self) -> bool:
768796
>>> robot[1].isjoint # link with joint
769797
>>> robot[8].isjoint # static link
770 F438 798
"""
771-
return len(self._ets) > 0 and self._ets[-1].isjoint
799+
# return self.v.isjoint if self.v else False
800+
return self._isjoint
772801

773802
@property
774803
def jindex(self) -> Union[None, int]:
@@ -786,11 +815,12 @@ def jindex(self) -> Union[None, int]:
786815
.. note:: ``jindex`` values must be a sequence of integers starting
787816
at zero.
788817
"""
789-
return None if not self.isjoint else self._ets[-1]._jindex
818+
return None if not self.v else self.v._jindex
790819

791820
@jindex.setter
792821
def jindex(self, j: int):
793-
self._ets[-1].jindex = j
822+
if self.v:
823+
self.v.jindex = j
794824

795825
@property
796826
def isprismatic(self) -> bool:
@@ -799,7 +829,8 @@ def isprismatic(self) -> bool:
799829
:return: True if is prismatic
800830
:rtype: bool
801831
"""
802-
return self.isjoint and self._ets[-1].istranslation
832+
print(self.v)
833+
return self.v.istranslation if self.v else False
803834

804835
@property
805836
def isrevolute(self) -> bool:
@@ -808,11 +839,7 @@ def isrevolute(self) -> bool:
808839
:return: True if is revolute
809840
:rtype: bool
810841
"""
811-
return self.isjoint and self._ets[-1].isrotation
812-
813-
@property
814-
def ets(self):
815-
return self._ets
842+
return self.v.isrotation if self.v else False
816843

817844
@ov 10000 erload
818845
def parent(self: "Link") -> Union["Link", None]:
@@ -1250,21 +1277,38 @@ def __init__(
12501277
# to this specific array. If replaced --> segfault
12511278
self._fk = eye(4)
12521279

1253-
@property
1254-
def ets(self: "Link") -> "ETS":
1255-
"""
1256-
Link transform in ETS form
1280+
# @property
1281+
# def ets(self: "Link") -> "ETS":
1282+
# """
1283+
# Link transform in ETS form
12571284

1258-
:return: elementary transform sequence for link transform
1259-
:rtype: ETS or ETS2 instance
1285+
# :return: elementary transform sequence for link transform
1286+
# :rtype: ETS or ETS2 instance
12601287

1261-
The sequence:
1262-
- has at least one element
1263-
- may include zero or more constant transforms
1264-
- no more than one variable transform, which if present will
1265-
be last in the sequence
1266-
"""
1267-
return self._ets # type: ignore
1288+
# The sequence:
1289+
# - has at least one element
1290+
# - may include zero or more constant transforms
1291+
# - no more than one variable transform, which if present will
1292+
# be last in the sequence
1293+
# """
1294+
# return self._ets # type: ignore
1295+
1296+
# @ets.setter
1297+
# def ets(self, new_ets: ETS):
1298+
# if new_ets.n > 1:
1299+
# raise ValueError("An elementary link can only have one joint variable")
1300+
1301+
# if new_ets.n == 1 and not new_ets[-1].isjoint:
1302+
# raise ValueError("Variable link must be at the end of the ETS")
1303+
1304+
# self._ets = new_ets
1305+
1306+
# if self._ets.n:
1307+
# self._v = self._ets[-1]
1308+
# self._isjoint = True
1309+
# else:
1310+
# self._v = None
1311+
# self._isjoint = False
12681312

12691313
def A(self, q: float = 0.0) -> SE3:
12701314
"""
@@ -1299,21 +1343,38 @@ def __init__(self, ets: ETS2 = ETS2(), jindex: int = None, **kwargs):
12991343
if jindex is not None:
13001344
self._ets[-1].jindex = jindex
13011345

1302-
@property
1303-
def ets(self) -> "ETS2":
1304-
"""
1305-
Link transform in ETS form
1306-
1307-
:return: elementary transform sequence for link transform
1308-
:rtype: ETS or ETS2 instance
1309-
1310-
The sequence:
1311-
- has at least one element
1312-
- may include zero or more constant transforms
1313-
- no more than one variable transform, which if present will
1314-
be last in the sequence
1315-
"""
1316-
return self._ets # type: ignore
1346+
# @property
1347+
# def ets(self) -> "ETS2":
1348+
# """
1349+
# Link transform in ETS form
1350+
1351+
# :return: elementary transform sequence for link transform
1352+
# :rtype: ETS or ETS2 instance
1353+
1354+
# The sequence:
1355+
# - has at least one element
1356+
# - may include zero or more constant transforms
1357+
# - no more than one variable transform, which if present will
1358+
# be last in the sequence
1359+
# """
1360+
# return self._ets
1361+
1362+
# @ets.setter
1363+
# def ets(self, new_ets: ETS2):
1364+
# if new_ets.n > 1:
1365+
# raise ValueError("An elementary link can only have one joint variable")
1366+
1367+
# if new_ets.n == 1 and not new_ets[-1].isjoint:
1368+
# raise ValueError("Variable link must be at the end of the ETS")
1369+
1370+
# self._ets = new_ets
1371+
1372+
# if self._ets.n:
1373+
# self._v = self._ets[-1]
1374+
# self._isjoint = True
1375+
# else:
1376+
# self._v = None
1377+
# self._isjoint = False
13171378

13181379
def A(self, q: float = 0.0) -> SE2:
13191380
"""

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