adeck/python-urx-getl-rt
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fixed bug in translate, allow to use math3d Vector as argument

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Olivier R-D
2013-06-25 17:18:33 +02:00
parent 84ab411e3f
commit 39de188403
1 changed files with 9 additions and 3 deletions
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12
urx/urx.py
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@@ -434,7 +434,7 @@ class Robot(URRobot):
self.csys_inv = self.csys.inverse() self.csys_inv = self.csys.inverse()
def orient(self, orient, acc=None, vel=None, wait=True): 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) orient = m3d.Orientation(orient)
trans = self.get_transform() trans = self.get_transform()
trans.orient = orient trans.orient = orient
@@ -448,7 +448,9 @@ class Robot(URRobot):
move tool in base coordinate, keeping orientation move tool in base coordinate, keeping orientation
""" """
t = m3d.Transform() 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) return self.add_transform_base(t, acc, vel, wait)
def translate_tool(self, vect, acc=None, vel=None, wait=True): 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 move tool in tool coordinate, keeping orientation
""" """
t = m3d.Transform() 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) return self.add_transform_tool(t, acc, vel, wait)
def set_pos(self, vect, acc=None, vel=None, wait=True): def set_pos(self, vect, acc=None, vel=None, wait=True):
""" """
set tool to given pos, keeping constant orientation 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)) trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.apply_transform(trans, acc, vel, wait) return self.apply_transform(trans, acc, vel, wait)