Merge pull request #174 from tetov/compas_v_bump_scaling

Use new Scale transformation constructor (introduced in compas 0.16)

Author: gonzalocasas

CHANGELOG.rst

@@ -43,9 +43,9 @@ Unreleased
 * ``MoveItPlanner``: ``inverse_kinematics`` takes now instance of ``Configuration`` and ``robot``
 * Property :class:`compas_fab.robots.Robot.artist` does not try to scale robot
   geometry if links and/or joints are not defined.
-* In :class:``compas_fab.robots.constraints.JointConstraint``, added ``tolerance_above`` and
+* In :class:`compas_fab.robots.constraints.JointConstraint`, added ``tolerance_above`` and
   ``tolerance_below`` for allowing asymmetrical constraints.
-* In :class:``compas_fab.robots.Robot``, changed the ``constraints_from_configuration``
+* In :class:`compas_fab.robots.Robot`, changed the ``constraints_from_configuration``
   function with ``tolerances_above`` and ``tolerances_below``.
 * :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor
   instead of a :class:`compas.geometry.Scale` instance as an argument.
@@ -82,7 +82,7 @@ Unreleased
 * Added ``attach_tool``, ``detach_tool``, ``draw_attached_tool``, ``from_tool0_to_attached_tool`` and ``from_attached_tool_to_tool0`` to ``Robot``
 * Added ``attach_tool`` and ``detach_tool`` to ``Artist``
 * Added ``add_attached_tool`` and ``remove_attached_tool`` to ``PlanningScene``
-* Added redraw/clear layer support to `RobotArtist` for Rhino
+* Added redraw/clear layer support to :class:`~compas_fab.rhino.RobotArtist` for Rhino
 * Added material/color support for DAE files on ROS file loader
 
 **Changed**
@@ -92,7 +92,7 @@ Unreleased
 **Fixed**
 
 * Fixed mutable init parameters of ``Configuration``, ``JointTrajectoryPoint``, ``JointTrajectory`` and ``Robot.basic``.
-* Fixed interface of `RobotArtist` for Blender
+* Fixed interface of :class:`~compas_fab.blender.RobotArtist` for Blender
 * Fixed DAE parsing of meshes with multiple triangle sets
 
 0.9.0
@@ -220,7 +220,7 @@ Unreleased
 
 **Deprecated**
 
-* The aliases for ``Frame`` and ``Transformation`` will be removed, in the future, import directly from `compas` core.
+* The aliases for ``Frame`` and ``Transformation`` will be removed, in the future, import directly from ``compas`` core.
 
 0.4.0
 ----------

docs/examples/01_fundamentals/01_frame_and_transformation.rst

@@ -33,7 +33,7 @@ coordinate system.
     # point in F (local coordinates)
     P = Point(35., 35., 35.)
     # point in global (world) coordinates
-    P_ = F.to_world_coords(P)
+    P_ = F.to_world_coordinates(P)
 
 
 Industrial robots do not have a common way of describing the pose orientation.

setup.py

@@ -11,7 +11,7 @@
 
 requirements = [
     # Until COMPAS reaches 1.0, we pin major.minor and allow patch version updates
-    'compas>=0.15.6,<0.16',
+    'compas>=0.16.1,<0.17',
     'roslibpy>=0.7.1',
     'pyserial',
 ]

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([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([scale_factor] * 3)
+        S = Scale.from_factors([scale_factor] * 3)
         self.transform(S)
 
     def transform(self, transformation):

src/compas_fab/robots/planning_scene.py

@@ -50,7 +50,7 @@ def scale(self, scale_factor):
         scale_factor : :obj:`float`
             Scale factor.
         """
-        S = Scale([scale_factor] * 3)
+        S = Scale.from_factors([scale_factor] * 3)
         self.mesh.transform(S)
 
 

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.from_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.from_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.

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