adeck/python-urx-getl-rt
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avoid using a, b, c notation when it is a rotation vector

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Olivier R-D
2013-04-03 10:55:35 +02:00
parent 39085a457d
commit 0cc7318a8e
1 changed files with 4 additions and 4 deletions
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8
urx/urx.py
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@@ -101,7 +101,7 @@ class URRobot(object):
force += i**2 force += i**2
return force**0.5 return force**0.5
def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0): def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0):
""" """
""" """
if type(x) in (list, tuple): if type(x) in (list, tuple):
@@ -110,7 +110,7 @@ class URRobot(object):
else: else:
arg = x arg = x
else: else:
arg = (x, y, z, a, b, c) arg = (x, y, z, rx, ry, rz)
prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg
self.secmon.send_program(prog) self.secmon.send_program(prog)
@@ -344,10 +344,10 @@ class Robot(URRobot):
self.inverse = self.calibration.inverse() self.inverse = self.calibration.inverse()
self.tracker = None self.tracker = None
def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0): def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0):
if type(x) == math3d.Transform: if type(x) == math3d.Transform:
x = x.pose_vector x = x.pose_vector
URRobot.set_tcp(self, x, y, z, a, b, c) URRobot.set_tcp(self, x, y, z, rx, ry, rz)
def set_calibration_matrix(self, matrix): def set_calibration_matrix(self, matrix):
self.calibration = matrix self.calibration = matrix