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petercorkepetercorke
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polish doco
add lots of docstrings for DHLink and subclasses
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‎docs/source/arm_dh.rst

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Arm Type Robots - DH
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====================
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Denavit-Hartenberg models
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=========================
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.. codeauthor:: Jesse Haviland
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A number of models are defined in terms of Denavit-Hartenberg parameters, either
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standard or modified. They can be listed by:
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> rtb.models.list(mtype="DH")
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DHRobot
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-------
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The various :ref:`DH Models` all subclass this class.
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.. automodule:: roboticstoolbox.robot.DHRobot
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.. automodule:: roboticstoolbox.robot.DHRobot.DHRobot
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:members:
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:undoc-members:
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:show-inheritance:
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:parts: 2
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.. automodule:: roboticstoolbox.robot.DHLink
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.. autoclass:: roboticstoolbox.robot.DHLink
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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Revolute - standard DH
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^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.RevoluteDH
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:members:
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:undoc-members:
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.. autoclass:: roboticstoolbox.robot.DHLink.RevoluteDH
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:show-inheritance:
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:inherited-members:
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Prismatic - standard DH
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^^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.PrismaticDH
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:members:
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:undoc-members:
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.. autoclass:: roboticstoolbox.robot.DHLink.PrismaticDH
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:show-inheritance:
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:inherited-members:
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Revolute - modified DH
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^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.RevoluteMDH
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:members:
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:undoc-members:
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.. autoclass:: roboticstoolbox.robot.DHLink.RevoluteMDH
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:show-inheritance:
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:inherited-members:
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Prismatic - modified DH
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^^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.PrismaticMDH
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:members:
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:undoc-members:
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.. autoclass:: roboticstoolbox.robot.DHLink.PrismaticMDH
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:show-inheritance:
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:inherited-members:
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.. _DH Models:
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Models
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------
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A number of models are defined in terms of Denavit-Hartenberg parameters, either
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standard or modified. They can be listed by:
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> rtb.models.list(mtype="DH")
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.. automodule:: roboticstoolbox.models.DH
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:members:
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:undoc-members:

‎docs/source/arm_ets.rst

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Arm Type Robots - ETS
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=====================
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Elementary transform sequence (ETS) models
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==========================================
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.. codeauthor:: Jesse Haviland
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A number of models are defined in terms of Denavit-Hartenberg parameters, either
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standard or modified. They can be listed by:
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A number of models are defined in terms of elementary transform sequences.
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They can be listed by:
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> rtb.models.list(mtype="ETS")
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:references:
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- https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters/
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ETS - 3D
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--------
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.. automodule:: roboticstoolbox.robot.ETS

‎docs/source/arm_urdf.rst

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URDF Robot models
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=================
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.. codeauthor:: Jesse Haviland
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ERobot
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-------
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.. inheritance-diagram:: roboticstoolbox.ERobot
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:top-classes: roboticstoolbox.Robot
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:parts: 2
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The various models :ref:`E Models` all subclass this class.
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.. automodule:: roboticstoolbox.robot.ERobot
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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ELink
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-------
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The ``ERobot`` is defined by a tree of ``ELink`` subclass objects.
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.. inheritance-diagram:: roboticstoolbox.ELink
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:top-classes: roboticstoolbox.robot.Link
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:parts: 2
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.. automodule:: roboticstoolbox.robot.ELink
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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.. _E Models:
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Models
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------
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A number of models are defined in terms of Denavit-Hartenberg parameters, either
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standard or modified. They can be listed by:
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> rtb.models.list(mtype="URDF")
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.. automodule:: roboticstoolbox.models.URDF
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:members:
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:undoc-members:
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:show-inheritance:

‎docs/source/index.rst

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.. toctree::
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:maxdepth: 2
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arm_dh
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arm_ets
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arm_urdf
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intro
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arm
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mobile
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