change method allfkine to fkine_all

petercorke · petercorke · commit ef57a1f97cce · 2020-09-10T20:16:38.000+10:00
diff --git a/roboticstoolbox/backend/PyPlot/RobotPlot.py b/roboticstoolbox/backend/PyPlot/RobotPlot.py
@@ -52,7 +52,7 @@ def __init__(
 
     def axes_calcs(self):
         # Joint and ee poses
-        T = self.robot.allfkine()
+        T = self.robot.fkine_all()
         Te = self.robot.fkine()
         Tb = self.robot.base
 
diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py
@@ -578,7 +578,7 @@ def gravjac(self, q=None, grav=None):
         for pose in range(poses):
             com_arr = np.zeros((3, self.n))
 
-            T = self.allfkine(q[:, pose])
+            T = self.fkine_all(q[:, pose])
 
             jointOrigins = np.zeros((3, self.n))
             jointAxes = np.zeros((3, self.n))
diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py
@@ -176,7 +176,7 @@ def to_dict(self):
             'q_idx': self.q_idx
         }
 
-        self.allfkine()
+        self.fkine_all()
 
         for link in self.ets:
             li = {
@@ -214,7 +214,7 @@ def fk_dict(self):
             'links': []
         }
 
-        self.allfkine()
+        self.fkine_all()
         # print(Tall)
 
         for link in self.ets:
@@ -510,12 +510,12 @@ def fkine(self, q=None):
 
         return t
 
-    def allfkine(self, q=None):
+    def fkine_all(self, q=None):
         '''
-        Tall = allfkine(q) evaluates fkine for each joint within a robot and
+        Tall = fkine_all(q) evaluates fkine for each joint within a robot and
         returns a trajecotry of poses.
 
-        Tall = allfkine() as above except uses the stored q value of the
+        Tall = fkine_all() as above except uses the stored q value of the
         robot object.
 
         :param q: The joint angles/configuration of the robot (Optional,
diff --git a/tests/test_SerialLink.py b/tests/test_SerialLink.py
@@ -583,7 +583,7 @@ def test_friction(self):
 
         nt.assert_array_almost_equal(r0.friction(qd), tau)
 
-    def test_allfkine(self):
+    def test_fkine_all(self):
         panda = rp.models.DH.Panda()
         q = [1, 2, 3, 4, 5, 6, 7]
         panda.q = q
@@ -631,8 +631,8 @@ def test_allfkine(self):
             [0, 0, 0, 1]
         ])
 
-        Tall = panda.allfkine(q)
-        Tall2 = panda.allfkine()
+        Tall = panda.fkine_all(q)
+        Tall2 = panda.fkine_all()
 
         nt.assert_array_almost_equal(Tall[0].A, t0, decimal=4)
         nt.assert_array_almost_equal(Tall[1].A, t1, decimal=4)
