def test_rt2tr(self):
# 3D
R = rotx(0.2)
t = [3, 4, 5]
T = rt2tr(R, t)
nt.assert_array_almost_equal(t2r(T), R)
nt.assert_array_almost_equal(transl(T), np.array(t))
theta = sym.symbol('theta')
R = rotx(theta)
self.assertEqual(r2t(R).dtype, 'O')
# 2D
R = rot2(0.2)
t = [3, 4]
T = rt2tr(R, t)
nt.assert_array_almost_equal(t2r(T), R)
nt.assert_array_almost_equal(transl2(T), np.array(t))
theta = sym.symbol('theta')
R = rot2(theta)
self.assertEqual(r2t(R).dtype, 'O')
with self.assertRaises(ValueError):
rt2tr(3, 4)
with self.assertRaises(ValueError):
rt2tr(np.eye(3, 4), [1, 2, 3, 4])
def test_r2t(self):
# 3D
R = rotx(0.3)
T = r2t(R)
nt.assert_array_almost_equal(T[0:3, 3], np.r_[0, 0, 0])
nt.assert_array_almost_equal(T[:3, :3], R)
theta = sym.symbol('theta')
R = rotx(theta)
T = r2t(R)
self.assertEqual(r2t(R).dtype, 'O')
nt.assert_array_almost_equal(T[0:3, 3], np.r_[0, 0, 0])
# nt.assert_array_almost_equal(T[:3,:3], R)
self.assertTrue((T[:3, :3] == R).all())
# 2D
R = rot2(0.3)
T = r2t(R)
nt.assert_array_almost_equal(T[0:2, 2], np.r_[0, 0])
nt.assert_array_almost_equal(T[:2, :2], R)
theta = sym.symbol('theta')
R = rot2(theta)
T = r2t(R)
self.assertEqual(r2t(R).dtype, 'O')
nt.assert_array_almost_equal(T[0:2, 2], np.r_[0, 0])
nt.assert_array_almost_equal(T[:2, :2], R)
with self.assertRaises(ValueError):
r2t(3)
with self.assertRaises(ValueError):
r2t(np.eye(3, 4))
def test_det(self):
a = np.array([[1, 2], [3, 4]])
self.assertAlmostEqual(np.linalg.det(a), det(a))
x, y = sym.symbol('x y')
a = np.array([[x, y], [y, x]])
self.assertEqual(det(a), x**2 - y**2)
def test_norm(self):
self.assertAlmostEqual(norm([0, 0, 0]), 0)
self.assertAlmostEqual(normsq([1, 2, 3]), 14)
self.assertAlmostEqual(normsq(np.r_[1, 2, 3]), 14)
x, y = sym.symbol('x y')
v = [x, y]
self.assertEqual(normsq(v), x**2 + y**2)
self.assertEqual(normsq(np.r_[v]), x**2 + y**2)
def test_norm(self):
self.assertAlmostEqual(norm([0, 0, 0]), 0)
self.assertAlmostEqual(norm([1, 2, 3]), math.sqrt(14))
self.assertAlmostEqual(norm(np.r_[1, 2, 3]), math.sqrt(14))
x, y = sym.symbol('x y')
v = [x, y]
self.assertEqual(norm(v), sym.sqrt(x**2 + y**2))
self.assertEqual(norm(np.r_[v]), sym.sqrt(x**2 + y**2))
:return: gear ratio
:rtype: float
- ``link.G = ...`` checks and sets the gear ratio
.. note::
- The ratio of motor motion : link motion
- The gear ratio can be negative, see also the ``flip`` attribute.
:seealso: :func:`flip`
"""
return self._G
@G.setter
@_listen_dyn
def G(self, G_new):
self._G = G_new
if __name__ == "__main__": # pragma nocover
import roboticstoolbox as rtb
from spatialmath.base import sym
ET = rtb.ETS
d, a, theta = sym.symbol('d, a, theta')
e = ET.tx(d) * ET.ty(a) * ET.rz(theta)
print(e)
link = rtb.ELink()
