Reflect changes to SMTB twist
@@ -735,24 +735,24 @@ class DHRobot(Robot):
# MDH case
for j, link in enumerate(self):
if link.sigma == 0:
- tw[j] = Twist3.R(T[j].a, T[j].t)
+ tw[j] = Twist3.Revolute(T[j].a, T[j].t)
else:
- tw[j] = Twist3.P(T[j].a)
+ tw[j] = Twist3.Prismatic(T[j].a)
else:
# DH case
for j, link in enumerate(self):
if j == 0:
# first link case
if link.sigma == 0:
- tw[j] = Twist3.R([0, 0, 1], [0, 0, 0]) # revolute
+ tw[j] = Twist3.Revolute([0, 0, 1], [0, 0, 0]) # revolute
else:
- tw[j] = Twist3.P([0, 0, 1]) # prismatic
+ tw[j] = Twist3.Prismatic([0, 0, 1]) # prismatic
else:
# subsequent links
if link.sigma == 0:
- tw[j] = Twist3.R(T[j-1].a, T[j-1].t) # revolute
+ tw[j] = Twist3.Revolute(T[j-1].a, T[j-1].t) # revolute
else:
- tw[j] = Twist3.P(T[j-1].a) # prismatic
+ tw[j] = Twist3.Prismatic(T[j-1].a) # prismatic
return tw, T[-1]
