now handled by Robot class
@@ -670,58 +670,6 @@ class DHRobot(Robot):
and L[1].sigma == 0 \
and L[2].sigma == 0
- def isprismatic(self):
- """
- Identify prismatic joints
-
- :return: a list of bool variables, one per joint, true if
- the corresponding joint is prismatic, otherwise false.
- :rtype: list of bool
-
- ``robot.isprismatic()`` is a bool list identifying the prismatic joints
- within the robot
-
- Example:
-
- .. runblock:: pycon
-
- >>> import roboticstoolbox as rtb
- >>> puma = rtb.models.DH.Puma560()
- >>> puma.isprismatic()
- >>> stanford = rtb.models.DH.Stanford()
- >>> stanford.isprismatic()
- """
- return [link.isprismatic for link in self]
-
- def isrevolute(self):
- """
- Identify revolute joints
-
- :return: a list of bool variables, one per joint, true if
- the corresponding joint is revolute, otherwise false.
- :rtype: list of bool
-
- ``robot.isrevolute()`` is a bool list identifying the revolute joints
- within the robot
-
- Example:
-
- .. runblock:: pycon
-
- >>> import roboticstoolbox as rtb
- >>> puma = rtb.models.DH.Puma560()
- >>> puma.isprismatic()
- >>> stanford = rtb.models.DH.Stanford()
- >>> stanford.isrevolute()
- """
-
- p = []
-
- for i in range(self.n):
- p.append(self.links[i].isrevolute)
-
- return p
-
def dhunique(self):
"""
Print the unique DH parameters
