get_path description
@@ -1066,6 +1066,22 @@ graph [rankdir=LR];
# return J
def get_path(self, endlink=None, startlink=None):
+ """
+ Find a path from startlink to endlink. The endlink must come after
+ the startlink (ie endlink must be further away from the base link
+ of the robot than startlink) in the kinematic chain and both links
+ must be a part of the same branch within the robot structure. This
+ method is a work in progress while an approach which generalises
+ to all applications is designed.
+
+ :param endlink: name or reference to end-effector, defaults to None
+ :type endlink: str or ELink, optional
+ :param startlink: name or reference to a base link, defaults to None
+ :type startlink: str or ELink, optional
+ :raises ValueError: link not known or ambiguous
+ :return: the path from startlink to endlink
+ :rtype: list of Link
+ """
path = []
n = 0
