mods to ETS analytic Jacobian
change dash to slash for consistency in representation
@@ -1127,8 +1127,8 @@ class ETS(BaseETS):
def jacob0_analytic(
self,
q: ArrayLike,
+ analytic: str = "rpy/xyz",
tool: Union[ndarray, SE3, None] = None,
- analytic: str = "rpy-xyz",
):
r"""
Manipulator analytical Jacobian in the base frame
@@ -1148,8 +1148,8 @@ class ETS(BaseETS):
============= ==================================
Value Rotational representation
============= ==================================
- ``'rpy-xyz'`` RPY angular rates in XYZ order
- ``'rpy-zyx'`` RPY angular rates in XYZ order
+ ``'rpy/xyz'`` RPY angular rates in XYZ order
+ ``'rpy/zyx'`` RPY angular rates in XYZ order
``'eul'`` Euler angular rates in ZYZ order
``'exp'`` exponential coordinate rates
============= ==================================
@@ -1164,12 +1164,8 @@ class ETS(BaseETS):
T = self.eval(q, tool=tool)
J = self.jacob0(q, tool=tool)
- if analytic is not None:
A = rotvelxform(t2r(T), full=True, inverse=True, representation=analytic)
- J = A @ J
-
- return J
-
+ return A @ J
class ETS2(BaseETS):
"""
@@ -1585,3 +1581,13 @@ class ETS2(BaseETS):
T = self.fkine(q, include_base=False).A
return tr2jac2(T.T) @ self.jacob0(q)
+
+if __name__ == "__main__":
+
+ from roboticstoolbox import models
+
+ ur5 = models.URDF.UR5()
+
+ ur5.fkine(ur5.qz)
+ ur5.jacob0(ur5.qz)
+ ur5.jacob0_analytic(ur5.qz)
\ No newline at end of file
