@@ -1821,7 +1821,7 @@ def joint_velocity_damper(self, ps=0.05, pi=0.1, n=None, gain=1.0):
18211821
18221822 def link_collision_damper (
18231823 self , shape , q = None , di = 0.3 , ds = 0.05 , xi = 1.0 ,
1824- from_link = None , to_link = None ):
1824+ endlink = None , startlink = None ):
18251825 '''
18261826 Formulates an inequality contraint which, when optimised for will
18271827 make it impossible for the robot to run into a collision. Requires
@@ -1847,13 +1847,13 @@ def link_collision_damper(
18471847 :rtype: ndarray(6), ndarray(6)
18481848 '''
18491849
1850- if from_link is None :
1851- from_link = self .base_link
1850+ if startlink is None :
1851+ startlink = self .base_link
18521852
1853- if to_link is None :
1854- to_link = self .ee_link
1853+ if endlink is None :
1854+ endlink = self .ee_link
18551855
1856- links , n = self .get_path (from_link , to_link )
1856+ links , n = self .get_path (startlink = startlink , endlink = endlink )
18571857
18581858 if q is None :
18591859 q = np .copy (self .q )
@@ -1873,7 +1873,7 @@ def indiv_calculation(link, link_col, q):
18731873 norm_h = np .expand_dims (np .r_ [norm , 0 , 0 , 0 ], axis = 0 )
18741874
18751875 Je = self .jacobe (
1876- q , from_link = self .base_link , to_link = link ,
1876+ q , startlink = self .base_link , endlink = link ,
18771877 offset = link_col .base )
18781878 n_dim = Je .shape [1 ]
18791879 dp = norm_h @ shape .v
@@ -1892,7 +1892,7 @@ def indiv_calculation(link, link_col, q):
18921892
18931893 for link_col in link .collision :
18941894 l_Ain , l_bin , d , wTcp = indiv_calculation (
1895- link , link_col , q [: j ] )
1895+ link , link_col , q )
18961896
18971897 if l_Ain is not None and l_bin is not None :
18981898 if Ain is None :
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