attempting interpopability with ERobot class
@@ -976,7 +976,7 @@ class DHRobot(Robot):
return J
- def jacob0(self, q=None, T=None, half=None, analytical=None):
+ def jacob0(self, q=None, T=None, half=None, analytical=None, start=None, end=None):
r"""
Manipulator Jacobian in world frame
@@ -1070,7 +1070,7 @@ class DHRobot(Robot):
return J0
- def hessian0(self, q=None, J0=None):
+ def hessian0(self, q=None, J0=None, start=None, end=None):
r"""
Manipulator Hessian in base frame
@@ -1125,6 +1125,12 @@ class DHRobot(Robot):
"""
return self.ets().hessian0(q, J0)
+
+ def _get_limit_links(self, end=None, start=None):
+ # For compatibility with ERobot
+
+ return None, None, None
+
# -------------------------------------------------------------------------- #
def _init_rne(self):
