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fix bug with vellipse/fellipse for 2D robot
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roboticstoolbox/backends/PyPlot/EllipsePlot.py

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -192,6 +192,9 @@ def make_ellipsoid2(self):
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# A = np.linalg.inv(A)
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# except:
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# A = np.zeros((2,2))
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if self.vell:
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# Do the extra step for the velocity ellipse
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A = np.linalg.inv(A)
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if isinstance(self.centre, str) and self.centre == "ee":
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centre = self.robot.fkine(self.q).A[:3, -1]
@@ -204,7 +207,7 @@ def make_ellipsoid2(self):
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# RVC2 p 602
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# x = sp.linalg.sqrtm(A) @ y
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x, y = base.ellipse(A, inverted=True, centre=centre[:2], scale=self.scale)
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x, y = base.ellipse(A, inverted=False, centre=centre[:2], scale=self.scale)
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self.x = x
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self.y = y
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# = x[0,:] * self.scale + centre[0]

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