Start to transition from SerialLink class to DHRobot

petercorke · petercorke · commit cfb17b0fd1f9 · 2020-09-10T20:15:10.000+10:00
diff --git a/roboticstoolbox/backend/PyPlot/PyPlot.py b/roboticstoolbox/backend/PyPlot/PyPlot.py
@@ -105,6 +105,7 @@ def step(self, dt=50):
         plt.ion()
 
         self._update_robots()
+        plt.pause(0.01)
 
     def reset(self):
         '''
@@ -151,7 +152,7 @@ def add(
 
         super().add()
 
-        if isinstance(ob, rp.SerialLink) or isinstance(ob, rp.ETS):
+        if isinstance(ob, rp.DHRobot) or isinstance(ob, rp.ETS):
             self.robots.append(
                 RobotPlot(
                     ob, self.ax, readonly, display,
diff --git a/roboticstoolbox/backend/PyPlot/RobotPlot.py b/roboticstoolbox/backend/PyPlot/RobotPlot.py
@@ -78,7 +78,7 @@ def axes_calcs(self):
         for i in range(self.robot.n):
             loc[:, i + 1] = T[i].t
 
-            if isinstance(self.robot, rp.SerialLink) \
+            if isinstance(self.robot, rp.DHRobot) \
                     or self.robot.ets[self.robot.q_idx[i]].axis == 'Rz' \
                     or self.robot.ets[self.robot.q_idx[i]].axis == 'tz':
                 Tji = T[i] * Tjz
diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py
@@ -3,9 +3,9 @@
 import numpy as np
 from spatialmath.base import trotz, transl
 
-from roboticstoolbox import SerialLink, RevoluteMDH
+from roboticstoolbox import DHRobot, RevoluteMDH
 
-class Panda(SerialLink):
+class Panda(DHRobot):
     """
     A class representing the Franka Emika Panda robot arm.
 
diff --git a/roboticstoolbox/models/DH/Puma560.py b/roboticstoolbox/models/DH/Puma560.py
@@ -17,9 +17,9 @@
 
 from math import pi
 import numpy as np
-from roboticstoolbox import SerialLink, RevoluteDH
+from roboticstoolbox import DHRobot, RevoluteDH
 
-class Puma560(SerialLink):
+class Puma560(DHRobot):
     """
     Create model of Puma 560 manipulator
 
diff --git a/roboticstoolbox/models/DH/Stanford.py b/roboticstoolbox/models/DH/Stanford.py
@@ -18,12 +18,12 @@
 
 # all parameters are in SI units: m, radians, kg, kg.m2, N.m, N.m.s etc.
 
-from roboticstoolbox import SerialLink, RevoluteDH, PrismaticDH
+from roboticstoolbox import DHRobot, RevoluteDH, PrismaticDH
 from math import pi
 import numpy as np
 
 
-class Stanford(SerialLink):
+class Stanford(DHRobot):
     """
     Create model of Stanford arm manipulator
 
diff --git a/roboticstoolbox/robot/__init__.py b/roboticstoolbox/robot/__init__.py
@@ -1,4 +1,4 @@
-from roboticstoolbox.robot.SerialLink import SerialLink
+from roboticstoolbox.robot.SerialLink import SerialLink, DHRobot
 from roboticstoolbox.robot.DHLink import DHLink, RevoluteDH, PrismaticDH, RevoluteMDH, PrismaticMDH
 from roboticstoolbox.robot.ETS import ETS
 from roboticstoolbox.robot.ELink import ELink
@@ -7,6 +7,7 @@
 
 __all__ = [
     'SerialLink',
+    'DHRobot',
     'DHLink',
     'RevoluteDH', 
     'PrismaticDH', 
