T to A conversion
@@ -822,9 +822,9 @@ class BaseERobot(Robot):
T = Tparent
while True:
if isinstance(self, ERobot):
- T *= SE3(link.T(q[link.jindex]))
+ T *= SE3(link.A(q[link.jindex]))
else:
- T *= SE2(link.T(q[link.jindex]))
+ T *= SE2(link.A(q[link.jindex]))
Tall[link.number] = T
@@ -2102,7 +2102,7 @@ class ERobot(BaseERobot):
vJ = SpatialVelocity(s[j] * qd[j])
# transform from parent(j) to j
- Xup[j] = SE3(self.links[j].T(q[j])).inv()
+ Xup[j] = SE3(self.links[j].A(q[j])).inv()
if self.links[j].parent is None:
v[j] = vJ
