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Update documentation
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‎_modules/index.html

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<script src="../_static/jquery.js"></script>
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<script src="../_static/underscore.js"></script>
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<script src="../_static/doctools.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../_static/js/theme.js"></script>
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@@ -163,7 +161,6 @@ <h1>All modules for which code is available</h1>
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<li><a href="roboticstoolbox/mobile/animations.html">roboticstoolbox.mobile.animations</a></li>
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<li><a href="roboticstoolbox/mobile/bug2.html">roboticstoolbox.mobile.bug2</a></li>
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<li><a href="roboticstoolbox/mobile/dx_form.html">roboticstoolbox.mobile.dx_form</a></li>
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<li><a href="roboticstoolbox/mobile/navigation.html">roboticstoolbox.mobile.navigation</a></li>
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<li><a href="roboticstoolbox/mobile/vehicle.html">roboticstoolbox.mobile.vehicle</a></li>
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<li><a href="roboticstoolbox/models/DH/Ball.html">roboticstoolbox.models.DH.Ball</a></li>
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<li><a href="roboticstoolbox/models/DH/Cobra600.html">roboticstoolbox.models.DH.Cobra600</a></li>
@@ -208,11 +205,9 @@ <h1>All modules for which code is available</h1>
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<li><a href="roboticstoolbox/models/URDF/wx250s.html">roboticstoolbox.models.URDF.wx250s</a></li>
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<li><a href="roboticstoolbox/robot/DHLink.html">roboticstoolbox.robot.DHLink</a></li>
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<li><a href="roboticstoolbox/robot/DHRobot.html">roboticstoolbox.robot.DHRobot</a></li>
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<li><a href="roboticstoolbox/robot/Dynamics.html">roboticstoolbox.robot.Dynamics</a></li>
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<li><a href="roboticstoolbox/robot/ELink.html">roboticstoolbox.robot.ELink</a></li>
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<li><a href="roboticstoolbox/robot/ERobot.html">roboticstoolbox.robot.ERobot</a></li>
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<li><a href="roboticstoolbox/robot/ETS.html">roboticstoolbox.robot.ETS</a></li>
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<li><a href="roboticstoolbox/robot/IK.html">roboticstoolbox.robot.IK</a></li>
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<li><a href="roboticstoolbox/robot/Link.html">roboticstoolbox.robot.Link</a></li>
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<li><a href="roboticstoolbox/robot/Robot.html">roboticstoolbox.robot.Robot</a></li>
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<li><a href="roboticstoolbox/tools/trajectory.html">roboticstoolbox.tools.trajectory</a></li>
@@ -229,7 +224,7 @@ <h1>All modules for which code is available</h1>
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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<span class="lastupdated">
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Last updated on 14-Feb-2021.
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Last updated on 22-Feb-2021.
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</span>
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</p>

‎_modules/roboticstoolbox/backends/PyPlot/PyPlot.html

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<script src="../../../../_static/jquery.js"></script>
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<script src="../../../../_static/underscore.js"></script>
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<script src="../../../../_static/doctools.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../../../../_static/js/theme.js"></script>
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@@ -679,7 +677,7 @@ <h1>Source code for roboticstoolbox.backends.PyPlot.PyPlot</h1><div class="highl
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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<span class="lastupdated">
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Last updated on 14-Feb-2021.
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Last updated on 22-Feb-2021.
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</span>
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‎_modules/roboticstoolbox/backends/PyPlot/PyPlot2.html

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<script src="../../../../_static/jquery.js"></script>
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<script src="../../../../_static/underscore.js"></script>
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<script src="../../../../_static/doctools.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../../../../_static/js/theme.js"></script>
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@@ -464,7 +462,7 @@ <h1>Source code for roboticstoolbox.backends.PyPlot.PyPlot2</h1><div class="high
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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<span class="lastupdated">
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Last updated on 14-Feb-2021.
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Last updated on 22-Feb-2021.
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</span>
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</p>

‎_modules/roboticstoolbox/backends/Swift/Swift.html

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<script src="../../../../_static/jquery.js"></script>
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<script src="../../../../_static/underscore.js"></script>
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<script src="../../../../_static/doctools.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../../../../_static/js/theme.js"></script>
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@@ -170,6 +168,7 @@ <h1>Source code for roboticstoolbox.backends.Swift.Swift</h1><div class="highlig
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<span class="kn">import</span> <span class="nn">spatialmath</span> <span class="k">as</span> <span class="nn">sm</span>
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<span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">from</span> <span class="nn">queue</span> <span class="kn">import</span> <span class="n">Queue</span>
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<span class="kn">import</span> <span class="nn">json</span>
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<span class="n">_sw</span> <span class="o">=</span> <span class="kc">None</span>
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<span class="n">sw</span> <span class="o">=</span> <span class="kc">None</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">outq</span> <span class="o">=</span> <span class="n">Queue</span><span class="p">()</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">inq</span> <span class="o">=</span> <span class="n">Queue</span><span class="p">()</span>
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<span class="c1"># Number of custom html elements added to page for id purposes</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">elementid</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="c1"># Element dict which holds the callback functions for form updates</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">elements</span> <span class="o">=</span> <span class="p">{}</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">realtime</span> <span class="o">=</span> <span class="n">realtime</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">display</span> <span class="o">=</span> <span class="n">display</span>
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@@ -544,6 +549,52 @@ <h1>Source code for roboticstoolbox.backends.Swift.Swift</h1><div class="highlig
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<span class="s2">&quot;You must call swift.start_recording(file_name) before trying&quot;</span>
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<span class="s2">&quot; to stop the recording&quot;</span><span class="p">)</span></div>
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<div class="viewcode-block" id="Swift.add_slider"><a class="viewcode-back" href="../../../../arm_backend_swift.html#roboticstoolbox.backends.Swift.Swift.add_slider">[docs]</a> <span class="k">def</span> <span class="nf">add_slider</span><span class="p">(</span>
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<span class="bp">self</span><span class="p">,</span> <span class="n">cb</span><span class="p">,</span> <span class="nb">min</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span> <span class="n">step</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">value</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">desc</span><span class="o">=</span><span class="s1">&#39;&#39;</span><span class="p">,</span> <span class="n">unit</span><span class="o">=</span><span class="s1">&#39;&#39;</span><span class="p">):</span>
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<span class="sd">&quot;&quot;&quot;</span>
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<span class="sd"> Add a range-slider to the page</span>
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<span class="sd"> :param cb: A callback function which is executed when the value of the</span>
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<span class="sd"> slider changes. The callback should accept one argument which</span>
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<span class="sd"> represents the new value of the slider</span>
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<span class="sd"> :type cb: function</span>
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<span class="sd"> :param min: the minimum value of the slider, optional</span>
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<span class="sd"> :type min: float</span>
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<span class="sd"> :param max: the maximum value of the slider, optional</span>
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<span class="sd"> :type max: float</span>
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<span class="sd"> :param step: the step size of the slider, optional</span>
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<span class="sd"> :type step: float</span>
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<span class="sd"> :param desc: add a description of the slider, optional</span>
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<span class="sd"> :type desc: str</span>
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<span class="sd"> :param unit: add a unit to the slider value, optional</span>
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<span class="sd"> :type unit: str</span>
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<span class="sd"> ``env.add_slider()`` adds a slider to the graphical</span>
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<span class="sd"> environment.</span>
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<span class="sd"> &quot;&quot;&quot;</span>
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<span class="nb">id</span> <span class="o">=</span> <span class="s1">&#39;customelement&#39;</span> <span class="o">+</span> <span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">elementid</span><span class="p">)</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">elementid</span> <span class="o">+=</span> <span class="mi">1</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">elements</span><span class="p">[</span><span class="nb">id</span><span class="p">]</span> <span class="o">=</span> <span class="n">cb</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">_send_socket</span><span class="p">(</span>
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<span class="s1">&#39;add_element&#39;</span><span class="p">,</span>
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<span class="p">[</span><span class="s1">&#39;slider&#39;</span><span class="p">,</span> <span class="nb">id</span><span class="p">,</span> <span class="nb">min</span><span class="p">,</span> <span class="nb">max</span><span class="p">,</span> <span class="n">step</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">desc</span><span class="p">,</span> <span class="n">unit</span><span class="p">])</span></div>
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<div class="viewcode-block" id="Swift.process_events"><a class="viewcode-back" href="../../../../arm_backend_swift.html#roboticstoolbox.backends.Swift.Swift.process_events">[docs]</a> <span class="k">def</span> <span class="nf">process_events</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
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<span class="sd">&quot;&quot;&quot;</span>
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<span class="sd"> Process the event queue from Swift, this invokes the callback functions</span>
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<span class="sd"> from custom elements added to the page. If using custom elements</span>
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<span class="sd"> (for example `add_slider`), use this function in your event loop to</span>
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<span class="sd"> process updates from Swift.</span>
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<span class="sd"> &quot;&quot;&quot;</span>
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<span class="n">events</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_send_socket</span><span class="p">(</span><span class="s1">&#39;check_elements&#39;</span><span class="p">)</span>
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<span class="n">events</span> <span class="o">=</span> <span class="n">json</span><span class="o">.</span><span class="n">loads</span><span class="p">(</span><span class="n">events</span><span class="p">)</span>
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<span class="k">for</span> <span class="n">event</span> <span class="ow">in</span> <span class="n">events</span><span class="p">:</span>
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<span class="bp">self</span><span class="o">.</span><span class="n">elements</span><span class="p">[</span><span class="n">event</span><span class="p">](</span><span class="n">events</span><span class="p">[</span><span class="n">event</span><span class="p">])</span></div>
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<span class="k">def</span> <span class="nf">_step_robots</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">):</span>
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<span class="k">for</span> <span class="n">robot_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">robots</span><span class="p">:</span>
@@ -618,7 +669,7 @@ <h1>Source code for roboticstoolbox.backends.Swift.Swift</h1><div class="highlig
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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Last updated on 22-Feb-2021.
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‎_modules/roboticstoolbox/mobile/animations.html

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<script src="../../../_static/jquery.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../../../_static/js/theme.js"></script>
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@@ -530,7 +528,7 @@ <h1>Source code for roboticstoolbox.mobile.animations</h1><div class="highlight"
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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Last updated on 14-Feb-2021.
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Last updated on 22-Feb-2021.
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</p>

‎_modules/roboticstoolbox/mobile/bug2.html

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<script src="../../../_static/jquery.js"></script>
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<script src="../../../_static/underscore.js"></script>
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<script src="../../../_static/doctools.js"></script>
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<script async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.7/latest.js?config=TeX-AMS-MML_HTMLorMML"></script>
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<script type="text/x-mathjax-config">MathJax.Hub.Config({"TeX": {"Macros": {"presup": ["\\,{}^{\\scriptscriptstyle #1}\\!", 1], "SE": ["\\mathbf{SE}(#1)", 1], "SO": ["\\mathbf{SO}(#1)", 1], "se": ["\\mathbf{se}(#1)", 1], "so": ["\\mathbf{so}(#1)", 1], "vec": ["\\boldsymbol{#1}", 1], "dvec": ["\\dot{\\boldsymbol{#1}}", 1], "ddvec": ["\\ddot{\\boldsymbol{#1}}", 1], "fvec": ["\\presup{#1}\\boldsymbol{#2}", 2], "fdvec": ["\\presup{#1}\\dot{\\boldsymbol{#2}}", 2], "fddvec": ["\\presup{#1}\\ddot{\\boldsymbol{#2}}", 2], "norm": ["\\Vert #1 \\Vert", 1], "mat": ["\\mathbf{#1}", 1], "fmat": ["\\presup{#1}\\mathbf{#2}", 2], "sk": ["\\left[#1\\right]", 1], "skx": ["\\left[#1\\right]_{\\times}", 1], "vex": ["\\vee\\left( #1\\right)", 1], "vexx": ["\\vee_{\\times}\\left( #1\\right)", 1], "q": "\\mathring{q}", "fq": ["\\presup{#1}\\mathring{q}", 1]}}})</script>
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<script type="text/javascript" src="../../../_static/js/theme.js"></script>
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@@ -662,7 +660,7 @@ <h1>Source code for roboticstoolbox.mobile.bug2</h1><div class="highlight"><pre>
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<p>
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&#169; Copyright 2020, Jesse Haviland and Peter Corke.
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<span class="lastupdated">
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Last updated on 14-Feb-2021.
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Last updated on 22-Feb-2021.
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</span>
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</p>

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