jacob tests passing
@@ -42,28 +42,36 @@ class Tests:
rep = "eul"
q = self.q
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
- nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
+ nt.assert_array_almost_equal(
+ self.robot.jacob0_analytical(q, representation=rep), Ja
+ )
def test_jacob_analytical_rpy_xyz(self):
rep = "rpy/xyz"
q = self.q
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
- nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
+ nt.assert_array_almost_equal(
+ self.robot.jacob0_analytical(q, representation=rep), Ja
+ )
def test_jacob_analytical_rpy_zyx(self):
rep = "rpy/zyx"
q = self.q
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
- nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
+ nt.assert_array_almost_equal(
+ self.robot.jacob0_analytical(q, representation=rep), Ja
+ )
def test_jacob_analytical_exp(self):
rep = "exp"
q = self.q
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
- nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
+ nt.assert_array_almost_equal(
+ self.robot.jacob0_analytical(q, representation=rep), Ja
+ )
def test_jacob_dot(self):
- j0 = self.robot.jacob_dot(self.q, self.qd)
+ j0 = self.robot.jacob0_dot(self.q, self.qd)
H = numhess(lambda q: self.robot.jacob0(q), self.q)
Jd = np.zeros((6, self.robot.n))
@@ -74,9 +82,11 @@ class Tests:
def test_jacob_dot_analytical_eul(self):
rep = "eul"
- j0 = self.robot.jacob_dot(self.q, self.qd, analytical=rep)
+ j0 = self.robot.jacob0_dot(self.q, self.qd, representation=rep)
- H = numhess(lambda q: self.robot.jacob0_analytic(q, analytic=rep), self.q)
+ H = numhess(
+ lambda q: self.robot.jacob0_analytical(q, representation=rep), self.q
+ )
Jd = np.zeros((6, self.robot.n))
for i in range(self.robot.n):
Jd += H[i, :, :] * self.qd[i]
