add degrees option to ERobot.fkine

petercorke · petercorke · commit eb004ce83471 · 2021-04-08T12:41:45.000+10:00
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -1151,7 +1151,7 @@ def URDF_read(file_path, tld=None):
 # --------------------------------------------------------------------- #
 
     def fkine(
-            self, q, end=None, start=None, tool=None,
+            self, q, unit='rad', end=None, start=None, tool=None,
             include_base=True, fast=False):
         '''
         Forward kinematics
@@ -1213,6 +1213,8 @@ def fkine(
         # we work with NumPy arrays not SE2/3 classes for speed
         q = getmatrix(q, (None, self.n))
 
+        q = self.toradians(q)
+
         end, start, etool = self._get_limit_links(end, start)
 
         if etool is not None and tool is not None:
