add autorun example

petercorke · petercorke · commit 3cefa214126c · 2020-10-28T08:02:24.000+10:00
diff --git a/roboticstoolbox/robot/DHDynamics.py b/roboticstoolbox/robot/DHDynamics.py
@@ -381,6 +381,14 @@ def accel(self, q, qd, torque):
 
         :math:`\ddot{q} = \mathbf{I}^{-1} \left(\tau - \mathbf{C}(q)\dot{q} - \mathbf{g}(q)\right)`
 
+        Example:
+
+        .. runblock:: pycon
+
+            >>> import roboticstoolbox as rtb
+            >>> puma = rtb.models.DH.Puma560()
+            >>> puma.accel(puma.qz, 0.5 * np.ones(6), np.zeros(6))
+
         **Trajectory operation**
 
         If `q`, `qd`, torque are matrices (m,n) then ``qdd`` is a matrix (m,n)
