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petercorkepetercorke
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rework of robot classes
polish doco comment out unneeded methods move methods between classes and superclasses big rework of qlim replace trajn with getmatrix logic remove some instances of using stored q value
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8 files changed

+2081
-2001
lines changed

8 files changed

+2081
-2001
lines changed

‎roboticstoolbox/robot/DHDynamics.py

Lines changed: 375 additions & 405 deletions
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‎roboticstoolbox/robot/DHLink.py

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -438,7 +438,7 @@ def __init__(
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a=0.0,
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alpha=0.0,
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offset=0.0,
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qlim=np.zeros(2),
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qlim=None,
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flip=False,
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**kwargs
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):
@@ -509,7 +509,7 @@ def __init__(
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a=0.0,
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alpha=0.0,
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offset=0.0,
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qlim=np.zeros(2),
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qlim=None,
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flip=False,
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**kwargs
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):
@@ -578,7 +578,7 @@ def __init__(
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a=0.0,
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alpha=0.0,
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offset=0.0,
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qlim=np.zeros(2),
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qlim=None,
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flip=False,
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**kwargs
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):
@@ -649,7 +649,7 @@ def __init__(
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a=0.0,
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alpha=0.0,
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offset=0.0,
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qlim=np.zeros(2),
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qlim=None,
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flip=False,
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**kwargs
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):

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