get ETS2 working
@@ -43,7 +43,7 @@ class SuperETS(UserList, ABC):
self.data = copy.copy(axis.data)
return
- if axis in ('Rx', 'Ry', 'Rz', 'tx', 'ty', 'tz'):
+ if axis in ('R', 'Rx', 'Ry', 'Rz', 'tx', 'ty', 'tz'):
# it's a regular axis
if eta is None:
@@ -463,10 +463,10 @@ class SuperETS(UserList, ABC):
else:
T = T @ Tk
- if isinstance(self, ETS):
- T = SE3(T, check=False)
- elif isinstance(self, ETS2):
+ if isinstance(self, ETS2):
T = SE2(T, check=False)
+ else:
+ T = SE3(T, check=False)
T.simplify()
return T
