elink collision docs
@@ -152,9 +152,9 @@ class ELink(Link):
:return: joint variable transform
:rtype: ETS instance
- The ETS for each ELink comprises a constant part (possible the identity)
- followed by an optional joint variable transform. This property returns
- the latter.
+ The ETS for each ELink comprises a constant part (possible the
+ identity) followed by an optional joint variable transform.
+ This property returns the latter.
.. runblock:: pycon
@@ -172,10 +172,10 @@ class ELink(Link):
:return: constant part of link transform
:rtype: SE3 instance
- The ETS for each ELink comprises a constant part (possible the identity)
- followed by an optional joint variable transform. This property returns
- the constant part. If no constant part is given, this returns an
- identity matrix.
+ The ETS for each ELink comprises a constant part (possible the
+ identity) followed by an optional joint variable transform.
+ This property returns the constant part. If no constant part
+ is given, this returns an identity matrix.
.. runblock:: pycon
@@ -187,7 +187,6 @@ class ELink(Link):
"""
return self._Ts
-
@property
def isjoint(self):
"""
@@ -196,9 +195,9 @@ class ELink(Link):
:return: test if link has a joint
:rtype: bool
- The ETS for each ELink comprises a constant part (possible the identity)
- followed by an optional joint variable transform. This property returns the
- whether the
+ The ETS for each ELink comprises a constant part (possible the
+ identity) followed by an optional joint variable transform.
+ This property returns the whether the
.. runblock:: pycon
@@ -292,14 +291,35 @@ class ELink(Link):
def M(self):
return self._M
- @property
- def collision(self):
- return self._collision
-
@property
def geometry(self):
+ """
+ Get/set joint visual geometry
+
+ - ``link.geometry`` is the list of the visual geometries which
+ represent the shape of the link
+ :return: the visual geometries
+ :rtype: list of Shape
+ - ``link.geometry = ...`` checks and sets the geometry
+ - ``link.geometry.append(...)`` add geometry
+ """
return self._geometry
+ @property
+ def collision(self):
+ """
+ Get/set joint collision geometry
+
+ - ``link.collision`` is the list of the collision geometries which
+ represent the collidable shape of the link.
+ :return: the collision geometries
+ :rtype: list of Shape
+ - ``link.collision = ...`` checks and sets the collision geometry
+ - ``link.collision.append(...)`` add collision geometry
+
+ The collision geometries are what is used to check for collisions.
+ """
+ return self._collision
# @r.setter
# def r(self, T):
@@ -401,6 +421,7 @@ class ELink(Link):
:param inf_dist: The minimum distance within which to consider
the shape
:type inf_dist: float
+
:returns: d, p1, p2 where d is the distance between the shapes,
p1 and p2 are the points in the world frame on the respective
shapes
@@ -430,6 +451,7 @@ class ELink(Link):
:param shape: The shape to compare distance to
:type shape: Shape
+
:returns: True if shapes have collided
:rtype: bool
'''
