add qlim property to ETS
@@ -13,7 +13,6 @@ from spatialmath.base import getvector, getunit, trotx, troty, trotz, \
issymbol, tr2jac, transl2, trot2, removesmall, trinv, \
verifymatrix, iseye, tr2jac2
-
class BaseETS(UserList, ABC):
# T is a NumPy array (4,4) or None
@@ -21,7 +20,7 @@ class BaseETS(UserList, ABC):
def __init__(
self, axis=None, eta=None, axis_func=None,
- unit='rad', j=None, flip=False):
+ unit='rad', j=None, flip=False, qlim=None):
"""
Elementary transform sequence (superclass)
@@ -148,7 +147,7 @@ class BaseETS(UserList, ABC):
# Save all the params in a named tuple
e = SimpleNamespace(
eta=eta, axis_func=axis_func,
- axis=axis, joint=joint, T=T, jindex=j, flip=flip)
+ axis=axis, joint=joint, T=T, jindex=j, flip=flip, qlim=qlim)
# And make it the only value of this instance
self.data = [e]
@@ -397,6 +396,10 @@ class BaseETS(UserList, ABC):
return ''.join(
['R' if self.isrevolute else 'P' for i in self.joints()])
+ @property
+ def qlim(self):
+ return self.data[0].qlim
+
def joints(self):
"""
Get index of joint transforms
