Closed cmower closed 1 year ago
Added a deprecation warning to multiple functions. However, now when running the example python example_planar_idk.py
I get the following error:
example_planar_idk.py:27: DeprecationWarning: 'get_global_linear_jacobian_function' will be deprecated, please use 'get_global_link_linear_jacobian_function' instead
J = robot.get_global_linear_jacobian_function(link=link_ee)
Traceback (most recent call last):
File "example_planar_idk.py", line 27, in <module>
J = robot.get_global_linear_jacobian_function(link=link_ee)
File ".local/lib/python3.8/site-packages/optas/models.py", line 63, in wrapper
return new_function(*args, **kwargs)
TypeError: get_global_link_linear_jacobian_function() got multiple values for argument 'link'
Fixed issues above. In first official release I will need to actually deprecate these methods. Closing for now.
Almost all the get methods in
RobotModel
use incorrect naming conventions. They all miss the wordlink
. These should be replaced.There is lots of code that is using the incorrect naming convention, so I think it would be best for a while to add deprecation warnings.