Call sympy.zeros acording to the docs

Author: cdsousa

sympybotics/dynamics/extra_dyn.py

@@ -13,7 +13,7 @@ def frictionforce(rbtdef, ifunc=None):
     if not ifunc:
         ifunc = identity
 
-    fric = zeros((rbtdef.dof, 1))
+    fric = zeros(rbtdef.dof, 1)
 
     if rbtdef.frictionmodel is None or len(rbtdef.frictionmodel) == 0:
         pass
@@ -45,7 +45,7 @@ def driveinertiaterm(rbtdef, ifunc=None):
     if not ifunc:
         ifunc = identity
 
-    driveinertia = zeros((rbtdef.dof, 1))
+    driveinertia = zeros(rbtdef.dof, 1)
 
     if rbtdef.driveinertiamodel is None:
         pass

sympybotics/dynamics/regressor.py

@@ -16,7 +16,7 @@ def regressor(rbtdef, geom, ifunc=None):
 
     dynparms = rbtdef.dynparms()
 
-    Y = zeros((rbtdef.dof, len(dynparms)))
+    Y = zeros(rbtdef.dof, len(dynparms))
 
     for p, parm in enumerate(dynparms):
 

sympybotics/dynamics/rne.py

@@ -37,8 +37,8 @@ def gravityterm(rbtdef, geom, ifunc=None):
     if not ifunc:
         ifunc = identity
     rbtdeftmp = deepcopy(rbtdef)
-    rbtdeftmp.dq = zeros((rbtdeftmp.dof, 1))
-    rbtdeftmp.ddq = zeros((rbtdeftmp.dof, 1))
+    rbtdeftmp.dq = zeros(rbtdeftmp.dof, 1)
+    rbtdeftmp.ddq = zeros(rbtdeftmp.dof, 1)
     rbtdeftmp.frictionmodel = None
     geomtmp = Geometry(rbtdeftmp)
     return rne(rbtdeftmp, geomtmp, ifunc)
@@ -49,8 +49,8 @@ def coriolisterm(rbtdef, geom, ifunc=None):
     if not ifunc:
         ifunc = identity
     rbtdeftmp = deepcopy(rbtdef)
-    rbtdeftmp.gravityacc = zeros((3, 1))
-    rbtdeftmp.ddq = zeros((rbtdeftmp.dof, 1))
+    rbtdeftmp.gravityacc = zeros(3, 1)
+    rbtdeftmp.ddq = zeros(rbtdeftmp.dof, 1)
     rbtdeftmp.frictionmodel = None
     geomtmp = Geometry(rbtdeftmp)
     return rne(rbtdeftmp, geomtmp, ifunc)
@@ -62,11 +62,11 @@ def coriolismatrix(rbtdef, geom, ifunc=None):
     if not ifunc:
         ifunc = identity
 
-    C = zeros((rbtdef.dof, rbtdef.dof))
+    C = zeros(rbtdef.dof, rbtdef.dof)
 
     rbtdeftmp = deepcopy(rbtdef)
-    rbtdeftmp.gravityacc = zeros((3, 1))
-    rbtdeftmp.ddq = zeros((rbtdeftmp.dof, 1))
+    rbtdeftmp.gravityacc = zeros(3, 1)
+    rbtdeftmp.ddq = zeros(rbtdeftmp.dof, 1)
     rbtdeftmp.frictionmodel = None
 
     # # Coriolis vector c element k is given by
@@ -75,10 +75,10 @@ def coriolismatrix(rbtdef, geom, ifunc=None):
 
     # # Find upper triangular A[k]'s
 
-    A = [zeros((rbtdef.dof, rbtdef.dof)) for k in range(rbtdef.dof)]
+    A = [zeros(rbtdef.dof, rbtdef.dof) for k in range(rbtdef.dof)]
 
     for i in range(rbtdef.dof):
-        rbtdeftmp.dq = zeros((rbtdeftmp.dof, 1))
+        rbtdeftmp.dq = zeros(rbtdeftmp.dof, 1)
         rbtdeftmp.dq[i] = 1
         geomtmp = Geometry(rbtdeftmp)
         fw_results = rne_forward(rbtdeftmp, geomtmp, ifunc)
@@ -88,7 +88,7 @@ def coriolismatrix(rbtdef, geom, ifunc=None):
 
     for i in range(rbtdef.dof):
         for j in range(i+1, rbtdef.dof):
-            rbtdeftmp.dq = zeros((rbtdeftmp.dof, 1))
+            rbtdeftmp.dq = zeros(rbtdeftmp.dof, 1)
             rbtdeftmp.dq[i] = rbtdeftmp.dq[j] = 1
             geomtmp = Geometry(rbtdeftmp)
             fw_results = rne_forward(rbtdeftmp, geomtmp, ifunc)
@@ -122,15 +122,15 @@ def inertiamatrix(rbtdef, geom, ifunc=None):
     if not ifunc:
         ifunc = identity
 
-    M = zeros((rbtdef.dof, rbtdef.dof))
+    M = zeros(rbtdef.dof, rbtdef.dof)
 
     rbtdeftmp = deepcopy(rbtdef)
-    rbtdeftmp.gravityacc = zeros((3, 1))
+    rbtdeftmp.gravityacc = zeros(3, 1)
     rbtdeftmp.frictionmodel = None
-    rbtdeftmp.dq = zeros((rbtdeftmp.dof, 1))
+    rbtdeftmp.dq = zeros(rbtdeftmp.dof, 1)
 
     for i in range(M.rows):
-        rbtdeftmp.ddq = zeros((rbtdeftmp.dof, 1))
+        rbtdeftmp.ddq = zeros(rbtdeftmp.dof, 1)
         rbtdeftmp.ddq[i] = 1
         geomtmp = Geometry(rbtdeftmp)
 

sympybotics/dynamics/rne_khalil.py

@@ -15,10 +15,10 @@ def rne_khalil_forward(rbtdef, geom, ifunc=None):
     dV = list(range(0, rbtdef.dof + 1))
     U = list(range(0, rbtdef.dof + 1))
 
-    w[-1] = zeros((3, 1))
-    dw[-1] = zeros((3, 1))
+    w[-1] = zeros(3, 1)
+    dw[-1] = zeros(3, 1)
     dV[-1] = -rbtdef.gravityacc
-    U[-1] = zeros((3, 3))
+    U[-1] = zeros(3, 3)
 
     z = Matrix([0, 0, 1])
 
@@ -58,19 +58,19 @@ def rne_khalil_backward(rbtdef, geom, fw_results, ifunc=None):
     # extend Rdh so that Rdh[dof] return identity
     Rdh = geom.Rdh + [eye(3)]
     # extend pdh so that pRdh[dof] return zero
-    pdh = geom.pdh + [zeros((3, 1))]
+    pdh = geom.pdh + [zeros(3, 1)]
 
     F = list(range(rbtdef.dof))
     M = list(range(rbtdef.dof))
     f = list(range(rbtdef.dof + 1))
     m = list(range(rbtdef.dof + 1))
 
-    f[rbtdef.dof] = zeros((3, 1))
-    m[rbtdef.dof] = zeros((3, 1))
+    f[rbtdef.dof] = zeros(3, 1)
+    m[rbtdef.dof] = zeros(3, 1)
 
     z = Matrix([0, 0, 1])
 
-    tau = zeros((rbtdef.dof, 1))
+    tau = zeros(rbtdef.dof, 1)
 
     fric = frictionforce(rbtdef)
     Idrive = driveinertiaterm(rbtdef)

sympybotics/dynamics/rne_park.py

@@ -41,8 +41,8 @@ def rne_park_forward(rbtdef, geom, ifunc=None):
     V = list(range(0, rbtdef.dof + 1))
     dV = list(range(0, rbtdef.dof + 1))
 
-    V[-1] = zeros((6, 1))
-    dV[-1] = - zeros((3, 1)).col_join(rbtdef.gravityacc)
+    V[-1] = zeros(6, 1)
+    dV[-1] = - zeros(3, 1).col_join(rbtdef.gravityacc)
 
     # Forward
     for i in range(rbtdef.dof):
@@ -72,9 +72,9 @@ def rne_park_backward(rbtdef, geom, fw_results, ifunc=None):
     Tdh_inv = geom.Tdh_inv + [eye(4)]
 
     F = list(range(rbtdef.dof + 1))
-    F[rbtdef.dof] = zeros((6, 1))
+    F[rbtdef.dof] = zeros(6, 1)
 
-    tau = zeros((rbtdef.dof, 1))
+    tau = zeros(rbtdef.dof, 1)
 
     fric = frictionforce(rbtdef)
     Idrive = driveinertiaterm(rbtdef)

sympybotics/geometry.py

@@ -20,7 +20,7 @@ def __init__(self, robotdef, ifunc=None):
         def inverse_T(T):
             return T[0:3, 0:3].transpose().row_join(
                 - T[0:3, 0:3].transpose() * T[0:3, 3]).col_join(
-                sympy.zeros((1, 3)).row_join(sympy.eye(1)))
+                sympy.zeros(1, 3).row_join(sympy.eye(1)))
 
         (alpha, a, d, theta) = sympy.symbols('alpha,a,d,theta', real=True)
 

sympybotics/kinematics.py

@@ -41,7 +41,7 @@ def sym_skew(v):
 
             self.Jp = list(range(self.rbtdef.dof))
             for l in range(self.rbtdef.dof):
-                self.Jp[l] = sympy.zeros((3, self.rbtdef.dof))
+                self.Jp[l] = sympy.zeros(3, self.rbtdef.dof)
                 for j in range(l + 1):
                     if self.rbtdef._links_sigma[j]:
                         self.Jp[l][0:3, j] = ifunc(z_ext[j - 1])
@@ -51,18 +51,18 @@ def sym_skew(v):
 
             self.Jo = list(range(self.rbtdef.dof))
             for l in range(self.rbtdef.dof):
-                self.Jo[l] = sympy.zeros((3, self.rbtdef.dof))
+                self.Jo[l] = sympy.zeros(3, self.rbtdef.dof)
                 for j in range(l + 1):
                     if self.rbtdef._links_sigma[j]:
-                        self.Jo[l][0:3, j] = sympy.zeros((3, 1))
+                        self.Jo[l][0:3, j] = sympy.zeros(3, 1)
                     else:
                         self.Jo[l][0:3, j] = ifunc(z_ext[j - 1])
 
         elif self.rbtdef._dh_convention == 'modified':
 
             self.Jp = list(range(self.rbtdef.dof))
             for l in range(self.rbtdef.dof):
-                self.Jp[l] = sympy.zeros((3, self.rbtdef.dof))
+                self.Jp[l] = sympy.zeros(3, self.rbtdef.dof)
                 for j in range(l + 1):
                     if self.rbtdef._links_sigma[j]:
                         self.Jp[l][0:3, j] = ifunc(geom.z[j])
@@ -72,10 +72,10 @@ def sym_skew(v):
 
             self.Jo = list(range(self.rbtdef.dof))
             for l in range(self.rbtdef.dof):
-                self.Jo[l] = sympy.zeros((3, self.rbtdef.dof))
+                self.Jo[l] = sympy.zeros(3, self.rbtdef.dof)
                 for j in range(l + 1):
                     if self.rbtdef._links_sigma[j]:
-                        self.Jo[l][0:3, j] = sympy.zeros((3, 1))
+                        self.Jo[l][0:3, j] = sympy.zeros(3, 1)
                     else:
                         self.Jo[l][0:3, j] = ifunc(geom.z[j])
 

sympybotics/tests/test_results.py

@@ -56,7 +56,7 @@ def test_scara_dh_sym_geo_kin():
                             [1, 1, 0, -1]])
 
     assert (scara_geo.T[-1] - T_spong).expand() == sympy.zeros(4)
-    assert (scara_kin.J[-1] - J_spong).expand() == sympy.zeros((6, 4))
+    assert (scara_kin.J[-1] - J_spong).expand() == sympy.zeros(6, 4)
 
 
 def test_puma_dh_num_geo_kin_dyn():