ets tests passing
@@ -129,13 +129,15 @@ class TestETS(unittest.TestCase):
p.q = q
pm.q = q
- r0 = p.allfkine()
- r1 = p.allfkine(q)
+ p.allfkine()
r2 = pm.allfkine()
for i in range(7):
- nt.assert_array_almost_equal(r0[i].A, r2[i].A)
- nt.assert_array_almost_equal(r1[i].A, r2[i].A)
+ nt.assert_array_almost_equal(p.ets[i]._fk.A, r2[i].A)
+
+ p.allfkine(q)
+ for i in range(7):
+ nt.assert_array_almost_equal(p.ets[i]._fk.A, r2[i].A)
def test_jacob0(self):
panda = rp.Panda()
@@ -413,21 +415,6 @@ class TestETS(unittest.TestCase):
nt.assert_array_almost_equal(panda.jacobe(), pdh.jacobe(q1))
nt.assert_array_almost_equal(panda.jacobe(q1), pdh.jacobe(q1))
-
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-
# def test_plot(self):
# panda = rp.Panda()
# panda.q = panda.qr
