def base(self, T):
# if not isinstance(T, SE3):
# T = SE3(T)
if T is None or isinstance(T, SE3):
self._base = T
elif SE3.isvalid(T):
self._tool = SE3(T, check=False)
else:
raise ValueError('base must be set to None (no tool) or an SE3')
def tool(self, T):
# if not isinstance(T, SE3):
# T = SE3(T)
# this is allowed to be none, it's helpful for symbolics rather than having an identity matrix
if T is None or isinstance(T, SE3):
self._tool = T
elif SE3.isvalid(T):
self._tool = SE3(T, check=False)
else:
raise ValueError('tool must be set to None (no tool) or an SE3')
