Merge branch 'master' of github.com:petercorke/robotics-toolbox-python

jhavl · jhavl · commit 78a4917f7230 · 2020-10-26T16:01:01.000+10:00
diff --git a/docs/source/arm.rst b/docs/source/arm.rst
@@ -8,5 +8,6 @@ Manipulator arms
    arm_dh
    arm_ets
    arm_urdf
+   arm_superclass
    arm_backend
    arm_trajectory
diff --git a/docs/source/arm_superclass.rst b/docs/source/arm_superclass.rst
@@ -0,0 +1,34 @@
+Superclasses
+============
+
+
+Robot
+-------
+
+.. inheritance-diagram:: roboticstoolbox.ERobot
+   :top-classes: roboticstoolbox.Robot
+   :parts: 2
+
+The various models :ref:`E Models` all subclass this class.
+
+.. automodule:: roboticstoolbox.robot.Robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :special-members: __getitem__
+   
+Link
+-------
+
+The ``ERobot`` is defined by a tree of ``ELink`` subclass objects.
+
+.. inheritance-diagram:: roboticstoolbox.Link
+   :top-classes: roboticstoolbox.robot.Link
+   :parts: 2
+
+.. automodule:: roboticstoolbox.robot.Link
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
diff --git a/roboticstoolbox/models/DH/Puma560.py b/roboticstoolbox/models/DH/Puma560.py
@@ -262,5 +262,5 @@ def ikine_a(self, T, config):
 
 if __name__ == '__main__':    # pragma nocover
 
-    puma = Puma560(symbolic=True)
+    puma = Puma560()
     print(puma)
diff --git a/roboticstoolbox/robot/DHLink.py b/roboticstoolbox/robot/DHLink.py
@@ -41,9 +41,10 @@ def _sin(theta):
 
 class DHLink(Link):
     """
-    A link superclass for all link types. A Link object holds all information
-    related to a robot joint and link such as kinematics parameters,
-    rigid-body inertial parameters, motor and transmission parameters.
+    A link superclass for all robots defined using Denavit-Hartenberg notation.
+    A Link object holds all information related to a robot joint and link such
+    as kinematics parameters, rigid-body inertial parameters, motor and
+    transmission parameters.
 
     :param theta: kinematic: joint angle
     :type theta: float
diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py
diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py
