Transformation.from_change_basis instead of change_of_basis

Author: tetov

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_of_basis(base_frame, Frame.worldXY())
+        return Transformation.from_change_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_of_basis(Frame.worldXY(), base_frame)
+        return Transformation.from_change_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.

src/compas_fab/robots/wrench.py

@@ -376,7 +376,7 @@ def gravity_compensated(self, ft_sensor_frame, mass, center_of_mass):
             Available at: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.552.109.
         """
         # transform gravity vector to FT Sensor coordinate system (FTSCS)
-        gravity_vector_FTSCS = ft_sensor_frame.to_local_coords(gravity_vector)
+        gravity_vector_FTSCS = ft_sensor_frame.to_local_coordinates(gravity_vector)
 
         # F gravity compensation, F = gravity * mass
         force_gravity = gravity_vector_FTSCS * mass