doco
names of representations change dash to slash
@@ -1066,22 +1066,22 @@ class Robot(SceneNode, ABC, DynamicsMixin, IKMixin):
def jacob0_analytic(
self,
q: ArrayLike,
+ analytic: str = "rpy/xyz",
end: Union[str, Link, Gripper, None] = None,
start: Union[str, Link, Gripper, None] = None,
tool: Union[ndarray, SE3, None] = None,
- analytic: str = "rpy-xyz",
):
r"""
Manipulator analytical Jacobian in the ``start`` frame
:param q: Joint coordinate vector
:type q: Arraylike
+ :param analytical: return analytical Jacobian instead of geometric Jacobian (default)
:param end: the particular link or gripper whose velocity the Jacobian
describes, defaults to the base link
:param start: the link considered as the end-effector, defaults to the robots's end-effector
:param tool: a static tool transformation matrix to apply to the
end of end, defaults to None
- :param analytical: return analytical Jacobian instead of geometric Jacobian (default)
:return J: Manipulator Jacobian in the ``start`` frame
@@ -1096,8 +1096,8 @@ class Robot(SceneNode, ABC, DynamicsMixin, IKMixin):
============= ==================================
Value Rotational representation
============= ==================================
- ``'rpy-xyz'`` RPY angular rates in XYZ order
- ``'rpy-zyx'`` RPY angular rates in XYZ order
+ ``'rpy/xyz'`` RPY angular rates in XYZ order
+ ``'rpy/zyx'`` RPY angular rates in XYZ order
``'eul'`` Euler angular rates in ZYZ order
``'exp'`` exponential coordinate rates
============= ==================================
