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refactor: Use TOL.is_close for checking if scaling is needed in Robot class #436

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merged 2 commits into from
Jun 14, 2024
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refactor: Use TOL.is_close for checking if scaling is needed in Robot class #436

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refactor: Use TOL.is_close for checking if scaling is needed in Robot…
yck011522 Jun 14, 2024
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yck011522 Jun 14, 2024
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3 changes: 2 additions & 1 deletion src/compas_fab/robots/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
from compas.data import Data
from compas.geometry import Frame
from compas.geometry import Transformation
from compas.tolerance import TOL
from compas_robots import Configuration
from compas_robots import RobotModel
from compas_robots.model import Joint
Expand Down Expand Up @@ -1389,7 +1390,7 @@ def plan_cartesian_motion(self, waypoints, start_configuration=None, group=None,
# =======
# Scaling
# =======
need_scaling = self.scale_factor != 1.0
need_scaling = not TOL.is_close(self.scale_factor, 1.0, rtol=1e-8)

if need_scaling:
waypoints = waypoints.scaled(1.0 / self.scale_factor)
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