minor PoE bugs
@@ -108,7 +108,7 @@ class PoERobot(Robot):
else:
T *= link.S.exp(qk)
- return T * T0
+ return T * self.T0
# T = reduce(lambda x, y: x * y,
# [link.A(qk) for link, qk in zip(self, q)])
@@ -155,6 +155,8 @@ class PoERobot(Robot):
# convert velocity twist from world frame to EE frame
return T.inv().Ad() @ J
+ def ets(self):
+ return NotImplemented
if __name__ == "__main__": # pragma nocover
