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jacob tests passing
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tests/test_jacob.py

Lines changed: 17 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -42,28 +42,36 @@ def test_jacob_analytical_eul(self):
4242
rep = "eul"
4343
q = self.q
4444
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
45-
nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
45+
nt.assert_array_almost_equal(
46+
self.robot.jacob0_analytical(q, representation=rep), Ja
47+
)
4648

4749
def test_jacob_analytical_rpy_xyz(self):
4850
rep = "rpy/xyz"
4951
q = self.q
5052
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
51-
nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
53+
nt.assert_array_almost_equal(
54+
self.robot.jacob0_analytical(q, representation=rep), Ja
55+
)
5256

5357
def test_jacob_analytical_rpy_zyx(self):
5458
rep = "rpy/zyx"
5559
q = self.q
5660
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
57-
nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
61+
nt.assert_array_almost_equal(
62+
self.robot.jacob0_analytical(q, representation=rep), Ja
63+
)
5864

5965
def test_jacob_analytical_exp(self):
6066
rep = "exp"
6167
q = self.q
6268
Ja = numjac(lambda q: tr2x(self.robot.fkine(q).A, representation=rep), q)
63-
nt.assert_array_almost_equal(self.robot.jacob0_analytic(q, analytic=rep), Ja)
69+
nt.assert_array_almost_equal(
70+
self.robot.jacob0_analytical(q, representation=rep), Ja
71+
)
6472

6573
def test_jacob_dot(self):
66-
j0 = self.robot.jacob_dot(self.q, self.qd)
74+
j0 = self.robot.jacob0_dot(self.q, self.qd)
6775

6876
H = numhess(lambda q: self.robot.jacob0(q), self.q)
6977
Jd = np.zeros((6, self.robot.n))
@@ -74,9 +82,11 @@ def test_jacob_dot(self):
7482

7583
def test_jacob_dot_analytical_eul(self):
7684
rep = "eul"
77-
j0 = self.robot.jacob_dot(self.q, self.qd, analytical=rep)
85+
j0 = self.robot.jacob0_dot(self.q, self.qd, representation=rep)
7886

79-
H = numhess(lambda q: self.robot.jacob0_analytic(q, analytic=rep), self.q)
87+
H = numhess(
88+
lambda q: self.robot.jacob0_analytical(q, representation=rep), self.q
89+
)
8090
Jd = np.zeros((6, self.robot.n))
8191
for i in range(self.robot.n):
8292
Jd += H[i, :, :] * self.qd[i]

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