Deprecate spatialmath.py
cmower opened this issue · 1 comments
cmower commented
Let's consider removing spatialmath.py and replace it's functionality by using spatial-casadi.
cmower commented
Some notes
- When extracting
rpy
from the URDF, the way to convert this to aspatial_casadi.Rotation
is to usespatial_casadi.Rotation.from_euler("XYZ", rpy)
- Many unit tests need to be deprecated and updated
- Remember to add
spatial-casadi
tosetup.py
as a dependency - Need to consider how to handle Jacobians. It would be inconsistent for
get
methods referring to Jacobian arrays to return eithercasadi.DM, casadi.SX, numpy.ndarray
. Better to return aJacobian
object (this would need implementing). This could be designed similar to spatial casadi and have some sort of structure as follows
class Jacobian:
def linear(self):
pass # returns linear part of jacobain
def angular(self, type):
pass # returns angular part of jacobian (given the type)
def geometric(self):
pass # returns geometric jacobian
def analytic(self, seq):
pass # returns analytic jacobian with given sequence for angular part