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Merge branch 'future' of github.com:petercorke/robotics-toolbox-python into future
2 parents 45ab8a9 + 346ebcc commit c0d7f4d

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‎docs/source/blocks-arm.rst

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Robot manipulator blocks
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========================
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.arm
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv
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‎docs/source/blocks-mobile.rst

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Mobile robot blocks
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===================
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.mobile
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv
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‎docs/source/blocks-uav.rst

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UAV blocks
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==========
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.uav
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv
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‎docs/source/blocks.rst

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bdsim blocks
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============
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 400
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A set of block definitions that provide robotic capability to `bdsim <https://github.com/petercorke/bdsim>`_.
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.. toctree::
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:maxdepth: 2
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blocks-arm
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blocks-mobile
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blocks-uav
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‎docs/source/conf.py

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import sphinx_rtd_theme
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import re
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# defined relative to configuration directory which is where this file conf.py lives
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sys.path.append(os.path.abspath('exts'))
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# -- Project information -----------------------------------------------------
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'sphinx.ext.doctest',
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'sphinx.ext.inheritance_diagram',
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'sphinx_autorun',
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'blockname',
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]
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autosummary_generate = True

‎docs/source/exts/blockname.py

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from docutils import nodes
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#from docutils.parsers.rst import Directive
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def block_name(name, rawtext, text, lineno, inliner, options={}, content=[]):
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# name: The local name of the interpreted role, the role name actually used in the document.
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# rawtext: A string containing the enitre interpreted text input, including the role and markup. Return it as a problematic node linked to a system message if a problem is encountered.
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# text: The interpreted text content.
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# lineno: The line number where the interpreted text begins.
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# inliner: The docutils.parsers.rst.states.Inliner object that called role_fn. It contains the several attributes useful for error reporting and document tree access.
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# options: A dictionary of directive options for customization (from the "role" directive), to be interpreted by the role function. Used for additional attributes for the generated elements and other functionality.
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# content: A list of strings, the directive content for customization (from the "role" directive). To be interpreted by the role function.
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html_node = nodes.raw(text='<p style="border:10px; background-color:#000000; padding: 1em; color: white; font-size: 30px; font-weight: bold;">' + text + '</p>', format='html')
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return [html_node], []
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def setup(app):
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app.add_role("blockname", block_name)
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return {
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'version': '0.1',
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'parallel_read_safe': True,
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'parallel_write_safe': True,
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}

‎docs/source/index.rst

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intro
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arm
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mobile
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blocks

‎roboticstoolbox/blocks/__init__.py

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from roboticstoolbox.blocks.arm import *
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from roboticstoolbox.blocks.mobile import *
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from roboticstoolbox.blocks.uav import *
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from .arm import *
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from .mobile import *
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from .uav import *

‎roboticstoolbox/blocks/arm.py

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@@ -28,13 +28,13 @@ class FKine(FunctionBlock):
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.. table::
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:align: left
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| ndarray | SE3 | |
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+------------+---------+---------+
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| ndarray | SE3 | |
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+------------+---------+---------+
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"""
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def __init__(self, robot=None, args={}, *inputs, **kwargs):
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| SE3 | ndarray | |
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+------------+---------+---------+
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| SE3 | ndarray | |
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+------------+---------+---------+
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"""
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def __init__(
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| ndarray | ndarray | |
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+------------+---------+---------+
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 1 | 0 |
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+------------+---------+---------+
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| ndarray | ndarray | |
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+------------+---------+---------+
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"""
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+------------+------------+---------+
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+------------+------------+---------+
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+------------+------------+---------+
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+------------+------------+---------+
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| inputs | outputs | states |
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+------------+------------+---------+
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| 2 | 1 | 0 |
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+------------+------------+---------+
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| SE3, SE3 | ndarray(6) | |
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+------------+------------+---------+
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def __init__(self, *inputs, **kwargs):
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+------------+----------+---------+
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+------------+----------+---------+
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+------------+----------+---------+
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| inputs | outputs | states |
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+------------+----------+---------+
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| 1 | 1 | 0 |
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+------------+----------+---------+
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| ndarray(6) | SE3 | |
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+------------+----------+---------+
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"""
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def __init__(self, *inputs, **kwargs):
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+------------+----------+---------+
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| ndarray(3) | SE3 | |
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+------------+----------+---------+
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+------------+----------+---------+
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| inputs | outputs | states |
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+------------+----------+---------+
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| 1 | 1 | 0 |
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+------------+----------+---------+
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| ndarray(3) | SE3 | |
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+------------+----------+---------+
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+------------+----------+---------+
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+------------+----------+---------+
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+------------+----------+---------+
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| | ndarray,| |
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| | ndarray | |
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+------------+---------+---------+
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| inputs | outputs | states |
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+------------+---------+---------+
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| 1 | 3 | 0 |
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+------------+---------+---------+
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| ndarray | ndarray,| |
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| | ndarray,| |
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| | ndarray | |
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| ndarray | | |
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+------------+---------+---------+
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+------------+---------+---------+
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| ndarray | | |
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+--------+---------+---------+
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+--------+---------+---------+
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| ndarray| | |
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| | ndarray(n) | |
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| | ndarray(n) | |
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def __init__(self, q0, qf, qd0=None, qdf=None, T=None, *inputs, **kwargs):
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+------------+---------+---------+
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def __init__(

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