add degrees option to ERobot.fkine
@@ -1151,7 +1151,7 @@ class ERobot(BaseERobot):
# --------------------------------------------------------------------- #
def fkine(
- self, q, end=None, start=None, tool=None,
+ self, q, unit='rad', end=None, start=None, tool=None,
include_base=True, fast=False):
'''
Forward kinematics
@@ -1213,6 +1213,8 @@ class ERobot(BaseERobot):
# we work with NumPy arrays not SE2/3 classes for speed
q = getmatrix(q, (None, self.n))
+ q = self.toradians(q)
+
end, start, etool = self._get_limit_links(end, start)
if etool is not None and tool is not None:
