Fixed minor cut and paste bugs.

Author: psigen

src/prpy/tsr/tsr.py

@@ -77,10 +77,11 @@ def __init__(self, T0_w=None, Tw_e=None, Bw=None,
         # We will now create a continuous version of the bound to maintain:
         # 1. Bw[i,1] > Bw[i,0] which is necessary for LBFGS-B
         # 2. signed rotations, necessary for expressiveness
-        Bw_interval = Bw[3:6, 1] - Bw[3:6, 0]
+        Bw_cont = numpy.copy(self.Bw)
+
+        Bw_interval = Bw_cont[3:6, 1] - Bw_cont[3:6, 0]
         Bw_interval = numpy.minimum(Bw_interval, 2*pi)
 
-        Bw_cont = numpy.copy(self.Bw)
         Bw_cont[3:6, 0] = wrap_to_interval(Bw_cont[3:6, 0])
         Bw_cont[3:6, 1] = Bw_cont[3:6, 0] + Bw_interval
 

tests/tsr/test_tsr.py

@@ -1,6 +1,6 @@
 import numpy
 from numpy import pi
-from prpy.tsr import Tsr
+from prpy.tsr import TSR
 from unittest import TestCase
 
 
@@ -14,7 +14,7 @@ def test_sample_xyzrpy(self):
               [0.,   0.],    # roll
               [pi,   pi],    # pitch
               [-pi, -pi]]  # yaw
-        tsr = Tsr(Bw=Bw)
+        tsr = TSR(Bw=Bw)
         s = tsr.sample_xyzrpy()
         self.assertTrue(numpy.all(s >= Bw[:, 0]))
         self.assertTrue(numpy.all(s <= Bw[:, 1]))
@@ -26,7 +26,7 @@ def test_sample_xyzrpy(self):
               [pi,        3.*pi],  # roll
               [pi/2.,   3*pi/2.],  # pitch
               [-3*pi/2., -pi/2.]]  # yaw
-        tsr = Tsr(Bw=Bw)
+        tsr = TSR(Bw=Bw)
         s = tsr.sample_xyzrpy()
         self.assertTrue(numpy.all(s >= Bw[:, 0]))
         self.assertTrue(numpy.all(s <= Bw[:, 1]))