more debug code
@@ -11,6 +11,7 @@ import sympy
import cProfile
import roboticstoolbox as rtb
import spatialmath as sm
+from copy import copy, deepcopy
import fknm
@@ -129,8 +130,28 @@ if __name__ == "__main__": # pragma nocover
)
x = sympy.Symbol("x")
- r1 = rtb.ET.Rx(flip=True)
- print(r1.T(x))
+ q1 = np.r_[x, r.qr[1:]]
+ q2 = r.qr
+ print(q1.dtype)
+ print(ets.jacob0(q1)[0, 0])
+ print(ets.jacob0(q2)[0, 0])
+ # print(q)
+
+ r1 = rtb.ET.Rx(2.5)
+ r4 = rtb.ET.Rx(2.5)
+ r2 = copy(r1)
+ r3 = deepcopy(r1)
+
+ ets = r1 * r3
+ print(r1 == r4)
+ # print(r1.fknm)
+
+ # print(r1.T(1.0))
+ # print(r2.T(1.0))
+ # print(r3.T(1.0))
+ # print(r1._BaseET__fknm)
+ # print(r2._BaseET__fknm)
+ # print(r3._BaseET__fknm)
# print(repr(ET.Rz(jindex=5)))
