add IK docs

jhavl · jhavl · commit e48a001fd15a · 2022-09-20T16:36:31.000+10:00
diff --git a/docs/source/arm.rst b/docs/source/arm.rst
@@ -7,4 +7,5 @@ Manipulator arms
 
    arm_models
    arm_backend
-   arm_trajectory
+   arm_trajectory
+   arm_ik
diff --git a/docs/source/arm_ik.rst b/docs/source/arm_ik.rst
@@ -0,0 +1,14 @@
+Inverse Kinematics
+==================
+
+.. codeauthor:: Jesse Haviland
+
+Newton-Raphson Numerical IK
+--------
+
+.. autoclass:: roboticstoolbox.robot.IK.IK_NR
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :member-order: bysource
+
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -48,6 +48,7 @@
     "sphinx_autorun",
     "blockname",
     "sphinx.ext.intersphinx",
+    "sphinx_autodoc_typehints"
 ]
 
 autosummary_generate = True
