doco for Jacobians and paths
@@ -1097,9 +1097,10 @@ class ERobot(Robot):
:param q: Joint coordinate vector
:type q: ndarray(n)
- :param endlink: the final link which the Jacobian represents
+ :param endlink: the particular link whose velocity the Jacobian describes, defaults
+ to the end-effector if only one is present
:type endlink: str or ELink
- :param startlink: the first link which the Jacobian represents
+ :param startlink: the link considered as the base frame, defaults to the robots's base frame
:type startlink: str or ELink
:param offset: a static offset transformation matrix to apply to the
end of endlink, defaults to None
@@ -1131,13 +1132,14 @@ class ERobot(Robot):
Corke, Spong etal., Siciliano etal. The end-effector velocity is
described in terms of translational and angular velocity, not a
velocity twist as per the text by Lynch & Park.
+
+ .. warning:: ``startlink`` and ``endlink`` must be on the same branch,
+ with ``startlink`` closest to the base.
""" # noqa
if offset is None:
offset = SE3()
- endlink, startlink = self._get_limit_links(endlink, startlink)
-
path, n = self.get_path(endlink, startlink)
q = getvector(q, self.n)
@@ -1145,7 +1147,6 @@ class ERobot(Robot):
if T is None:
T = self.base.inv() * \
self.fkine(q, endlink=endlink, startlink=startlink) * offset
-
T = T.A
U = np.eye(4)
j = 0
@@ -1203,9 +1204,10 @@ class ERobot(Robot):
:param q: Joint coordinate vector
:type q: ndarray(n)
- :param endlink: the final link which the Jacobian represents
+ :param endlink: the particular link whose velocity the Jacobian describes, defaults
+ to the end-effector if only one is present
:type endlink: str or ELink
- :param startlink: the first link which the Jacobian represents
+ :param startlink: the link considered as the base frame, defaults to the robots's base frame
:type startlink: str or ELink
:param offset: a static offset transformation matrix to apply to the
end of endlink, defaults to None
@@ -1237,6 +1239,9 @@ class ERobot(Robot):
Corke, Spong etal., Siciliano etal. The end-effector velocity is
described in terms of translational and angular velocity, not a
velocity twist as per the text by Lynch & Park.
+
+ .. warning:: ``startlink`` and ``endlink`` must be on the same branch,
+ with ``startlink`` closest to the base.
""" # noqa
q = getvector(q, self.n)
