changed forward_kinematics to take instance of Configuration

Author: romanarust

CHANGELOG.rst

@@ -24,7 +24,7 @@ Unreleased
 * ``MoveItPlanner`` returns ``start_configuration`` with set ``joint_names``
 * Removed parameter ``names`` from ``RobotArtist.update``
 * Updated Grasshopper examples
-* ``Robot.forward_kinematics`` returns now a frame in world coords
+* ``Robot``: ``forward_kinematics`` returns now ``frame_WCF``
 
 **Removed**
 

src/compas_fab/backends/ros/client.py

@@ -186,12 +186,11 @@ def inverse_kinematics(self, frame, base_link, group,
 
         return await_callback(self.inverse_kinematics_async, **kwargs)
 
-    def forward_kinematics(self, joint_positions, base_link, group, joint_names, ee_link):
+    def forward_kinematics(self, configuration, base_link, group, ee_link):
         kwargs = {}
-        kwargs['joint_positions'] = joint_positions
+        kwargs['configuration'] = configuration
         kwargs['base_link'] = base_link
         kwargs['group'] = group
-        kwargs['joint_names'] = joint_names
         kwargs['ee_link'] = ee_link
 
         kwargs['errback_name'] = 'errback'

src/compas_fab/backends/ros/planner_backend_moveit.py

@@ -145,13 +145,13 @@ def convert_to_positions(response):
 
         self.GET_POSITION_IK(self, (ik_request, ), convert_to_positions, errback)
 
-    def forward_kinematics_async(self, callback, errback, joint_positions, base_link,
-                                 group, joint_names, ee_link):
+    def forward_kinematics_async(self, callback, errback, configuration, base_link,
+                                 group, ee_link):
         """Asynchronous handler of MoveIt FK service."""
         header = Header(frame_id=base_link)
         fk_link_names = [ee_link]
         joint_state = JointState(
-            name=joint_names, position=joint_positions, header=header)
+            name=configuration.joint_names, position=configuration.values, header=header)
         robot_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
 

src/compas_fab/robots/robot.py

@@ -1030,9 +1030,8 @@ def forward_kinematics(self, full_configuration, group=None, backend=None, link_
 
         if not backend:
             if self.client:
-                frame_WCF = self.client.forward_kinematics(full_configuration_scaled.values,
+                frame_WCF = self.client.forward_kinematics(full_configuration_scaled,
                                                            self.model.root.name, group,
-                                                           full_configuration_scaled.joint_names,
                                                            link_name)
                 frame_WCF.point *= self.scale_factor
             else: