Fix bug in reach
@@ -447,7 +447,9 @@ class DHRobot(Robot):
joint coordinate (``qlim``) if the joint is primsmatic.
.. note::
- - Probably an overestimate of reach
+
+ - This is the *length sum* referred to in Craig's book
+ - Probably an overestimate of the actual reach
- Used by numerical inverse kinematics to scale translational
error.
- For a prismatic joint, uses ``qlim`` if it is set
@@ -459,7 +461,7 @@ class DHRobot(Robot):
d = 0
for link in self:
d += abs(link.a) + (link.d)
- if link.isprismatic and link.qlim is not None:
+ if link.isprismatic() and link.qlim is not None:
d += link.qlim[1]
self._reach = d
return self._reach
