From 39de188403da79115a14b587c46059890ca34eef Mon Sep 17 00:00:00 2001 From: Olivier R-D Date: Tue, 25 Jun 2013 17:18:33 +0200 Subject: [PATCH] fixed bug in translate, allow to use math3d Vector as argument --- urx/urx.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/urx/urx.py b/urx/urx.py index 6d8f8c2..f649fc9 100644 --- a/urx/urx.py +++ b/urx/urx.py @@ -434,7 +434,7 @@ class Robot(URRobot): self.csys_inv = self.csys.inverse() def orient(self, orient, acc=None, vel=None, wait=True): - if type(orient) != m3d.Orientation: + if type(orient) is not m3d.Orientation: orient = m3d.Orientation(orient) trans = self.get_transform() trans.orient = orient @@ -448,7 +448,9 @@ class Robot(URRobot): move tool in base coordinate, keeping orientation """ t = m3d.Transform() - t.pos += vect + if not type(vect) is m3d.Vector: + vect = m3d.Vector(vect) + t.pos += m3d.Vector(vect) return self.add_transform_base(t, acc, vel, wait) def translate_tool(self, vect, acc=None, vel=None, wait=True): @@ -456,13 +458,17 @@ class Robot(URRobot): move tool in tool coordinate, keeping orientation """ t = m3d.Transform() - t.pos += m3d.Vector(vect) + if not type(vect) is m3d.Vector: + vect = m3d.Vector(vect) + t.pos += vect return self.add_transform_tool(t, acc, vel, wait) def set_pos(self, vect, acc=None, vel=None, wait=True): """ set tool to given pos, keeping constant orientation """ + if not type(vect) is m3d.Vector: + vect = m3d.Vector(vect) trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect)) return self.apply_transform(trans, acc, vel, wait)