def pose(self): """ >>> j = RzJoint(gpos = 3.14/2., gvel = 1.) >>> j.pose array([[ 7.96326711e-04, -9.99999683e-01, 0.00000000e+00, 0.00000000e+00], [ 9.99999683e-01, 7.96326711e-04, 0.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, 0.00000000e+00], [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) """ return homogeneousmatrix.rotz(self.gpos[0])
def ipose(self): return homogeneousmatrix.rotz(-self.gpos[0])