@@ -42,28 +42,36 @@ def test_jacob_analytical_eul(self):
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rep = "eul"
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q = self .q
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Ja = numjac (lambda q : tr2x (self .robot .fkine (q ).A , representation = rep ), q )
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- nt .assert_array_almost_equal (self .robot .jacob0_analytic (q , analytic = rep ), Ja )
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+ nt .assert_array_almost_equal (
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+ self .robot .jacob0_analytical (q , representation = rep ), Ja
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+ )
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def test_jacob_analytical_rpy_xyz (self ):
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rep = "rpy/xyz"
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q = self .q
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Ja = numjac (lambda q : tr2x (self .robot .fkine (q ).A , representation = rep ), q )
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- nt .assert_array_almost_equal (self .robot .jacob0_analytic (q , analytic = rep ), Ja )
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+ nt .assert_array_almost_equal (
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+ self .robot .jacob0_analytical (q , representation = rep ), Ja
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+ )
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def test_jacob_analytical_rpy_zyx (self ):
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rep = "rpy/zyx"
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q = self .q
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Ja = numjac (lambda q : tr2x (self .robot .fkine (q ).A , representation = rep ), q )
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- nt .assert_array_almost_equal (self .robot .jacob0_analytic (q , analytic = rep ), Ja )
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+ nt .assert_array_almost_equal (
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+ self .robot .jacob0_analytical (q , representation = rep ), Ja
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+ )
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def test_jacob_analytical_exp (self ):
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rep = "exp"
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q = self .q
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Ja = numjac (lambda q : tr2x (self .robot .fkine (q ).A , representation = rep ), q )
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- nt .assert_array_almost_equal (self .robot .jacob0_analytic (q , analytic = rep ), Ja )
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+ nt .assert_array_almost_equal (
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+ self .robot .jacob0_analytical (q , representation = rep ), Ja
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+ )
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def test_jacob_dot (self ):
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- j0 = self .robot .jacob_dot (self .q , self .qd )
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+ j0 = self .robot .jacob0_dot (self .q , self .qd )
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H = numhess (lambda q : self .robot .jacob0 (q ), self .q )
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Jd = np .zeros ((6 , self .robot .n ))
@@ -74,9 +82,11 @@ def test_jacob_dot(self):
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def test_jacob_dot_analytical_eul (self ):
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rep = "eul"
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- j0 = self .robot .jacob_dot (self .q , self .qd , analytical = rep )
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+ j0 = self .robot .jacob0_dot (self .q , self .qd , representation = rep )
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- H = numhess (lambda q : self .robot .jacob0_analytic (q , analytic = rep ), self .q )
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+ H = numhess (
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+ lambda q : self .robot .jacob0_analytical (q , representation = rep ), self .q
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+ )
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Jd = np .zeros ((6 , self .robot .n ))
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for i in range (self .robot .n ):
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Jd += H [i , :, :] * self .qd [i ]
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