removed IK functions
@@ -1434,68 +1434,6 @@ class DHRobot(Robot, DHDynamicsMixin):
else:
return q
- # def _is_simple(self):
- # L = self.links
- # alpha = [-np.pi / 2, 0, np.pi / 2]
- # s = (L[1].d == 0 and L[2].d == 0) and ((
- # L[0].alpha == alpha[0]
- # and L[1].alpha == alpha[1]
- # and L[2].alpha == alpha[2]
- # ) or (
- # L[0].alpha == -alpha[0]
- # and L[1].alpha == -alpha[1]
- # and L[2].alpha == -alpha[2]
- # )) and \
- # (not L[0].sigma and not L[1].sigma and not L[2].sigma) and \
- # L[0].a == 0
-
- # return s
-
- # def _is_offset(self):
- # L = self.links
- # alpha = [-np.pi / 2, 0, np.pi / 2]
- # s = ((
- # L[0].alpha == alpha[0]
- # and L[1].alpha == alpha[1]
- # and L[2].alpha == alpha[2]
- # ) or (
- # L[0].alpha == -alpha[0]
- # and L[1].alpha == -alpha[1]
- # and L[2].alpha == -alpha[2]
- # )) and (not L[0].sigma and not L[1].sigma and not L[2].sigma)
-
- # return s
-
- # def _is_rrp(self):
- # L = self.links
- # alpha = [-np.pi / 2, np.pi / 2, 0]
- # s = (L[1].a == 0 and L[2].a == 0) and ((
- # L[0].alpha == alpha[0]
- # and L[1].alpha == alpha[1]
- # and L[2].alpha == alpha[2]
- # ) or (
- # L[0].alpha == -alpha[0]
- # and L[1].alpha == -alpha[1]
- # and L[2].alpha == -alpha[2]
- # )) and not L[0].sigma and not L[1].sigma and L[2].sigma
-
- # return s
-
- # def _is_puma(self):
- # L = self.links
- # alpha = [np.pi / 2, 0, -np.pi / 2]
- # s = (
- # L[1].d == 0
- # and L[0].a == 0
- # and not L[2].d == 0
- # and not L[2].a == 0 and (
- # L[0].alpha == alpha[0]
- # and L[1].alpha == alpha[1]
- # and L[2].alpha == alpha[2]
- # ) and (not L[0].sigma and not L[1].sigma and not L[2].sigma))
-
- # return s
-
def ikinem(self, T, q0=None, pweight=1.0, stiffness=0.0,
qlimits=True, ilimit=1000, nolm=False):
"""
