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')