property config is now called structure, and consistent between Robot classes and ETS

petercorke · petercorke · commit 08b47edfed46 · 2021-03-10T17:11:39.000+10:00
moved to Robot class
fix bug with fixed links
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
@@ -638,27 +638,6 @@ def isrevolute(self):
 
         return p
 
-    def config(self):
-        """
-        Return the joint configuration string
-
-        :return: joint configuration string
-        :rtype: str
-
-        A string with one letter per joint: ``R`` for a revolute
-        joint, and ``P`` for a prismatic joint.
-
-        Example:
-
-        .. runblock:: pycon
-
-            >>> import roboticstoolbox as rtb
-            >>> puma = rtb.models.DH.Puma560()
-            >>> puma.config()
-            >>> stanford = rtb.models.DH.Stanford()
-            >>> stanford.config()
-        """
-        return ''.join(['R' if L.isrevolute else 'P' for L in self])
 
     def todegrees(self, q=None):
         """
diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py
@@ -322,9 +322,9 @@ def isconstant(self):
         return self.axis[0] == 'C'
 
     @property
-    def config(self):
+    def structure(self):
         """
-        Joint configuration string
+        Joint structure string
 
         :return: A string indicating the joint types
         :rtype: str
@@ -338,7 +338,7 @@ def config(self):
 
             >>> from roboticstoolbox import ETS
             >>> e = ETS.tz() * ETS.tx(1) * ETS.rz() * ETS.tx(1)
-            >>> e.config
+            >>> e.structure
 
         """
         return ''.join(
diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py
@@ -248,6 +248,35 @@ def angle(theta, fmt=None):
         else:  # pragma nocover
             return ""
 
+    @property
+    def structure(self):
+        """
+        Return the joint structure string
+
+        :return: joint configuration string
+        :rtype: str
+
+        A string with one letter per joint: ``R`` for a revolute
+        joint, and ``P`` for a prismatic joint.
+
+        Example:
+
+        .. runblock:: pycon
+
+            >>> import roboticstoolbox as rtb
+            >>> puma = rtb.models.DH.Puma560()
+            >>> puma.structure
+            >>> stanford = rtb.models.DH.Stanford()
+            >>> stanford.structure
+        """
+        structure = []
+        for link in self:
+            if link.isrevolute:
+                structure.append('R')
+            elif link.isprismatic:
+                structure.append('P')
+
+        return ''.join(structure)
     def linkcolormap(self, linkcolors="viridis"):
         """
         Create a colormap for robot joints
