Update documentation

actions-user · actions-user · commit c9430aeae5a5 · 2021-03-01T06:10:44.000Z
diff --git a/arm_dh.html b/arm_dh.html
@@ -1271,12 +1271,12 @@ <h2>DHRobot<a class="headerlink" href="#dhrobot" title="Permalink to this headli
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
-<span class="go">array([[ 6.2736, -1.3785,  4.2076, -0.    , -0.3925,  0.    ],</span>
-<span class="go">       [-1.3785, 20.0685, -1.5182, -0.    ,  0.1312, -0.2119],</span>
-<span class="go">       [ 4.2076, -1.5182, 24.9384, -0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.    , -0.    , -0.    ,  0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.3925,  0.1312,  0.    ,  0.    ,  0.1713, -0.    ],</span>
-<span class="go">       [ 0.    , -0.2119,  0.    ,  0.    , -0.    ,  0.0967]])</span>
+<span class="go">array([[ 6.2736, -1.3785,  4.2076,  0.    , -0.3925,  0.    ],</span>
+<span class="go">       [-1.3785, 20.0685, -1.5182,  0.    ,  0.1312, -0.2119],</span>
+<span class="go">       [ 4.2076, -1.5182, 24.9384,  0.    ,  0.    ,  0.    ],</span>
+<span class="go">       [ 0.    ,  0.    ,  0.    ,  0.    , -0.    , -0.    ],</span>
+<span class="go">       [-0.3925,  0.1312,  0.    , -0.    ,  0.1713, -0.    ],</span>
+<span class="go">       [ 0.    , -0.2119,  0.    , -0.    , -0.    ,  0.0967]])</span>
 </pre></div>
 </div>
 <p><strong>Trajectory operation</strong></p>
diff --git a/arm_erobot.html b/arm_erobot.html
@@ -1095,12 +1095,12 @@ <h2>ERobot<a class="headerlink" href="#erobot" title="Permalink to this headline
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
-<span class="go">array([[ 6.2736, -1.3785,  4.2076, -0.    , -0.3925,  0.    ],</span>
-<span class="go">       [-1.3785, 20.0685, -1.5182, -0.    ,  0.1312, -0.2119],</span>
-<span class="go">       [ 4.2076, -1.5182, 24.9384, -0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.    , -0.    , -0.    ,  0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.3925,  0.1312,  0.    ,  0.    ,  0.1713, -0.    ],</span>
-<span class="go">       [ 0.    , -0.2119,  0.    ,  0.    , -0.    ,  0.0967]])</span>
+<span class="go">array([[ 6.2736, -1.3785,  4.2076,  0.    , -0.3925,  0.    ],</span>
+<span class="go">       [-1.3785, 20.0685, -1.5182,  0.    ,  0.1312, -0.2119],</span>
+<span class="go">       [ 4.2076, -1.5182, 24.9384,  0.    ,  0.    ,  0.    ],</span>
+<span class="go">       [ 0.    ,  0.    ,  0.    ,  0.    , -0.    , -0.    ],</span>
+<span class="go">       [-0.3925,  0.1312,  0.    , -0.    ,  0.1713, -0.    ],</span>
+<span class="go">       [ 0.    , -0.2119,  0.    , -0.    , -0.    ,  0.0967]])</span>
 </pre></div>
 </div>
 <p><strong>Trajectory operation</strong></p>
diff --git a/arm_superclass.html b/arm_superclass.html
@@ -787,12 +787,12 @@ <h2>Robot<a class="headerlink" href="#robot" title="Permalink to this headline">
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
-<span class="go">array([[ 6.2736, -1.3785,  4.2076, -0.    , -0.3925,  0.    ],</span>
-<span class="go">       [-1.3785, 20.0685, -1.5182, -0.    ,  0.1312, -0.2119],</span>
-<span class="go">       [ 4.2076, -1.5182, 24.9384, -0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.    , -0.    , -0.    ,  0.    ,  0.    ,  0.    ],</span>
-<span class="go">       [-0.3925,  0.1312,  0.    ,  0.    ,  0.1713, -0.    ],</span>
-<span class="go">       [ 0.    , -0.2119,  0.    ,  0.    , -0.    ,  0.0967]])</span>
+<span class="go">array([[ 6.2736, -1.3785,  4.2076,  0.    , -0.3925,  0.    ],</span>
+<span class="go">       [-1.3785, 20.0685, -1.5182,  0.    ,  0.1312, -0.2119],</span>
+<span class="go">       [ 4.2076, -1.5182, 24.9384,  0.    ,  0.    ,  0.    ],</span>
+<span class="go">       [ 0.    ,  0.    ,  0.    ,  0.    , -0.    , -0.    ],</span>
+<span class="go">       [-0.3925,  0.1312,  0.    , -0.    ,  0.1713, -0.    ],</span>
+<span class="go">       [ 0.    , -0.2119,  0.    , -0.    , -0.    ,  0.0967]])</span>
 </pre></div>
 </div>
 <p><strong>Trajectory operation</strong></p>
diff --git a/intro.html b/intro.html
@@ -575,7 +575,7 @@ <h3>Denavit-Hartenberg parameters<a class="headerlink" href="#denavit-hartenberg
 
 <span class="gp">&gt;&gt;&gt; </span><span class="n">sol</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">ikine_LM</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>                          <span class="c1"># inverse kinematics</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">sol</span><span class="p">)</span>
-<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.514893490954293e-13)</span>
+<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.513951146341011e-13)</span>
 </pre></div>
 </td></tr></table></div>
 <p>The Toolbox supports named joint configurations and these are shown in the table
@@ -869,7 +869,7 @@ <h2>Differential kinematics<a class="headerlink" href="#differential-kinematics"
 <span class="go">Yoshikawa manipulability is 0.07861716534599998</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">m</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">manipulability</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qn</span><span class="p">,</span> <span class="n">method</span><span class="o">=</span><span class="s2">&quot;asada&quot;</span><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Asada manipulability is&quot;</span><span class="p">,</span> <span class="n">m</span><span class="p">)</span>
-<span class="go">Asada manipulability is 0.004374613728166502</span>
+<span class="go">Asada manipulability is 0.004374613728166503</span>
 </pre></div>
 </div>
 <p>for the Yoshikawa and Asada measures respectively, and</p>
diff --git a/searchindex.js b/searchindex.js
