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fix defaults for representation parameter, fix docstrings
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roboticstoolbox/blocks/arm.py

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -148,7 +148,7 @@ def __init__(
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:param useprevious: Use previous IK solution as q0, defaults to True
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:type useprevious: bool, optional
150150
:param ik: Specify an IK function, defaults to ``Robot.ikine_LM``
151-
:type ik: callable f(T)
151+
:type ik: callable
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:param args: Options passed to IK function
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:type args: dict
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:param seed: random seed for solution
@@ -244,7 +244,7 @@ def __init__(
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self,
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robot,
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frame="0",
247-
representation=None,
247+
representation="rpy/xyz",
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inverse=False,
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pinv=False,
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damping=None,
@@ -256,7 +256,7 @@ def __init__(
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:type robot: Robot subclass
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:param frame: Frame to compute Jacobian for, one of: "0" [default], "e"
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:type frame: str, optional
259-
:param representation: representation for analytical Jacobian, defaults to None
259+
:param representation: representation for analytical Jacobian, defaults to "rpy/xyz"
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:type representation: str, optional
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:param inverse: output inverse of Jacobian, defaults to False
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:type inverse: bool, optional
@@ -1157,7 +1157,7 @@ def __init__(self, robot, representation="rpy/xyz", gravity=None, **blockargs):
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:param robot: Robot model
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:type robot: Robot subclass
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:param representation: task-space representation, defaults to "rpy/xyz"
1160-
:type represenstation: str
1160+
:type representation: str
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:param gravity: gravitational acceleration
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:type gravity: float
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:param blockargs: |BlockOptions|
@@ -1293,7 +1293,7 @@ def __init__(self, robot, representation="rpy/xyz", pinv=False, **blockargs):
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:param robot: Robot model
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:type robot: Robot subclass
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:param representation: task-space representation, defaults to "rpy/xyz"
1296-
:type represenstation: str
1296+
:type representation: str
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:param blockargs: |BlockOptions|
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:type blockargs: dict
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"""
@@ -1482,7 +1482,7 @@ def __init__(
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:param velcomp: perform velocity term compensation
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:type velcomp: bool
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:param representation: task-space representation, defaults to "rpy/xyz"
1485-
:type represenstation: str
1485+
:type representation: str
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:param blockargs: |BlockOptions|
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:type blockargs: dict

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