Remove SE2 from Robot base
@@ -16,6 +16,7 @@ from roboticstoolbox.backends.PyPlot import PyPlot
from roboticstoolbox.backends.PyPlot.EllipsePlot import EllipsePlot
from roboticstoolbox.robot.Dynamics import DynamicsMixin
from roboticstoolbox.robot.IK import IKMixin
+from typing import Optional, Union
try:
from matplotlib import colors
@@ -1021,7 +1022,7 @@ class Robot(ABC, DynamicsMixin, IKMixin):
# --------------------------------------------------------------------- #
@property
- def base(self):
+ def base(self) -> SE3:
"""
Get/set robot base transform (Robot superclass)
@@ -1037,9 +1038,6 @@ class Robot(ABC, DynamicsMixin, IKMixin):
is an identity matrix.
"""
if self._base is None:
- if isinstance(self, rtb.ERobot2):
- self._base = SE2()
- else:
self._base = SE3()
# return a copy, otherwise somebody with
@@ -1050,12 +1048,6 @@ class Robot(ABC, DynamicsMixin, IKMixin):
def base(self, T):
if T is None:
self._base = T
- elif isinstance(self, rtb.ERobot2):
- # 2D robot
- if isinstance(T, SE2):
- self._base = T
- elif SE2.isvalid(T):
- self._tool = SE2(T, check=True)
elif isinstance(self, rtb.Robot):
# all other 3D robots
if isinstance(T, SE3):
