Verified Commit b04274e9 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python/robot-wrapper: mark frameJacobian and jointJacobian as deprecated

parent 59e6c3aa
......@@ -127,8 +127,12 @@ class RobotWrapper(object):
a.linear += np.cross(v.angular, v.linear, axis=0)
return a;
@deprecated("This method has been renamed computeJointJacobian. Please use computeJointJacobian instead of jointJacobian.")
def jointJacobian(self, q, index):
return pin.jointJacobian(self.model, self.data, q, index)
return pin.computeJointJacobian(self.model, self.data, q, index)
def computeJointJacobian(self, q, index):
return pin.computeJointJacobian(self.model, self.data, q, index)
def getJointJacobian(self, index, rf_frame=pin.ReferenceFrame.LOCAL):
return pin.getFrameJacobian(self.model, self.data, index, rf_frame)
......@@ -159,12 +163,20 @@ class RobotWrapper(object):
"""
return pin.getFrameJacobian(self.model, self.data, frame_id, rf_frame)
@deprecated("This method has been renamed computeFrameJacobian. Please use computeFrameJacobian instead of frameJacobian.")
def frameJacobian(self, q, frame_id):
"""
Similar to getFrameJacobian but does not need pin.computeJointJacobians and
pin.updateFramePlacements to update internal value of self.data related to frames.
"""
return pin.frameJacobian(self.model, self.data, q, frame_id)
return pin.computeFrameJacobian(self.model, self.data, q, frame_id)
def computeFrameJacobian(self, q, frame_id):
"""
Similar to getFrameJacobian but does not need pin.computeJointJacobians and
pin.updateFramePlacements to update internal value of self.data related to frames.
"""
return pin.computeFrameJacobian(self.model, self.data, q, frame_id)
def rebuildData(self):
"""Re-build the data objects. Needed if the models were modified.
......
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