update refs to jacob0_dot

petercorke · petercorke · commit 6fb9a67a9fa8 · 2023-04-30T12:41:57.000+10:00
diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py
@@ -1147,7 +1147,7 @@ def coriolis_x(
             if Mx is None:
                 Mx = self.inertia_x(q[0, :], Ji=Ji)
             if Jd is None:
-                Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja)
+                Jd = self.jacob0_dot(q[0, :], qd[0, :], J0=Ja)
             return Ji.T @ (C - Mx @ Jd) @ Ji
         else:
             # trajectory case
@@ -1164,7 +1164,7 @@ def coriolis_x(
 
                 C = self.coriolis(qk, qdk)
                 Mx = self.inertia_x(qk, Ji=Ji)
-                Jd = self.jacob_dot(qk, qdk, J0=J)
+                Jd = self.jacob0_dot(qk, qdk, J0=J)
 
                 Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji
 
