linf tf tree
@@ -18,6 +18,8 @@ from roboticstoolbox.robot.Dynamics import DynamicsMixin
from roboticstoolbox.robot.IK import IKMixin
from typing import Optional, Union, overload
from spatialgeometry import Shape
+from fknm import Robot_link_T
+from functools import lru_cache
try:
from matplotlib import colors
@@ -2031,7 +2033,20 @@ class Robot(ABC, DynamicsMixin, IKMixin):
This private method updates the local transform of each link within
this robot according to q (or self.q if q is none)
"""
- pass
+
+ @lru_cache(maxsize=32)
+ def get_link_ets():
+ return [link.ets._fknm for link in self.links]
+
+ @lru_cache(maxsize=32)
+ def get_link_scene_node():
+ return [link._T_reference for link in self.links]
+
+ Robot_link_T(
+ get_link_ets(),
+ get_link_scene_node(),
+ self._q,
+ )
# --------------------------------------------------------------------- #
