Update documentation

actions-user · actions-user · commit 0f20c6aa2930 · 2021-02-11T23:38:49.000Z
diff --git a/_modules/roboticstoolbox/robot/ERobot.html b/_modules/roboticstoolbox/robot/ERobot.html
@@ -1064,7 +1064,7 @@ <h1>Source code for roboticstoolbox.robot.ERobot</h1><div class="highlight"><pre
         <span class="n">end</span><span class="p">,</span> <span class="n">start</span><span class="p">,</span> <span class="n">etool</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_limit_links</span><span class="p">(</span><span class="n">end</span><span class="p">,</span> <span class="n">start</span><span class="p">)</span>
 
         <span class="k">if</span> <span class="n">etool</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">tool</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
-            <span class="n">tool</span> <span class="o">=</span> <span class="p">(</span><span class="n">etool</span> <span class="o">@</span> <span class="n">tool</span><span class="p">)</span><span class="o">.</span><span class="n">A</span>
+            <span class="n">tool</span> <span class="o">=</span> <span class="p">(</span><span class="n">etool</span> <span class="o">*</span> <span class="n">tool</span><span class="p">)</span><span class="o">.</span><span class="n">A</span>
         <span class="k">elif</span> <span class="n">etool</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
             <span class="n">tool</span> <span class="o">=</span> <span class="n">etool</span><span class="o">.</span><span class="n">A</span>
         <span class="k">elif</span> <span class="n">tool</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
diff --git a/_modules/roboticstoolbox/robot/IK.html b/_modules/roboticstoolbox/robot/IK.html
@@ -656,7 +656,14 @@ <h1>Source code for roboticstoolbox.robot.IK</h1><div class="highlight"><pre>
         <span class="n">tcount</span> <span class="o">=</span> <span class="mi">0</span>  <span class="c1"># Total iteration count</span>
 
         <span class="c1"># bool vector indicating revolute joints</span>
-        <span class="n">revolutes</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">link</span><span class="o">.</span><span class="n">isrevolute</span> <span class="k">for</span> <span class="n">link</span> <span class="ow">in</span> <span class="bp">self</span><span class="p">])</span>
+        <span class="c1"># joints = np.array([link.isjoint for link in self])</span>
+        <span class="c1"># revolutes = np.array([link.isrevolute for link in self])</span>
+        <span class="n">revolutes</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="k">for</span> <span class="n">link</span> <span class="ow">in</span> <span class="bp">self</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">link</span><span class="o">.</span><span class="n">isjoint</span><span class="p">:</span>
+                <span class="n">revolutes</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">link</span><span class="o">.</span><span class="n">isrevolute</span><span class="p">)</span>
+        <span class="n">revolutes</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">revolutes</span><span class="p">)</span>
 
         <span class="n">q</span> <span class="o">=</span> <span class="n">q0</span>
         <span class="k">for</span> <span class="n">Tk</span> <span class="ow">in</span> <span class="n">T</span><span class="p">:</span>
@@ -692,6 +699,8 @@ <h1>Source code for roboticstoolbox.robot.IK</h1><div class="highlight"><pre>
                 <span class="c1"># print(J)</span>
 
                 <span class="c1"># Wrap angles for revolute joints</span>
+                <span class="nb">print</span><span class="p">(</span><span class="n">revolutes</span><span class="p">)</span>
+                <span class="nb">print</span><span class="p">(</span><span class="n">q</span><span class="p">)</span>
                 <span class="n">k</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span><span class="n">q</span> <span class="o">&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="n">revolutes</span><span class="p">)</span>
                 <span class="n">q</span><span class="p">[</span><span class="n">k</span><span class="p">]</span> <span class="o">-=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span>
 
