Typo in meth name and corrected name of Transformation constructor

Author: tetov

src/compas_fab/artists/base.py

@@ -171,7 +171,7 @@ def scale(self, factor):
         self.robot.scale(factor)  # scale the model
 
         relative_factor = factor / self.scale_factor  # relative scaling factor
-        transformation = Scale.from_factor([relative_factor] * 3)
+        transformation = Scale.from_factors([relative_factor] * 3)
         self.scale_link(self.robot.root, transformation)
         self.scale_factor = factor
 

src/compas_fab/robots/constraints.py

@@ -91,7 +91,7 @@ def from_mesh(cls, mesh):
         return cls(cls.MESH, mesh)
 
     def scale(self, scale_factor):
-        S = Scale.from_factor([scale_factor] * 3)
+        S = Scale.from_factors([scale_factor] * 3)
         self.transform(S)
 
     def transform(self, transformation):

src/compas_fab/robots/robot.py

@@ -568,7 +568,7 @@ def transformation_RCF_WCF(self, group=None):
 
         """
         base_frame = self.get_base_frame(group)
-        return Transformation.change_basis(base_frame, Frame.worldXY())
+        return Transformation.change_of_basis(base_frame, Frame.worldXY())
 
     def transformation_WCF_RCF(self, group=None):
         """Returns the transformation from the world coordinate system (WCF) to the robot's coordinate system (RCF).
@@ -584,7 +584,7 @@ def transformation_WCF_RCF(self, group=None):
 
         """
         base_frame = self.get_base_frame(group)
-        return Transformation.change_basis(Frame.worldXY(), base_frame)
+        return Transformation.change_of_basis(Frame.worldXY(), base_frame)
 
     def set_RCF(self, robot_coordinate_frame, group=None):
         """Moves the origin frame of the robot to the robot_coordinate_frame.